From Euler-Lagrange system representation to the generalized Hamiltonian one
DOI:
https://doi.org/10.21640/ns.v7i14.40Keywords:
Hamiltonian-representation, Euler-Lagrange, Hamilton-equations, transformationAbstract
The generalized Hamiltonian representation of systems gives structural advantages that can be used in many areas. Some of these are the design of nonlinear observer and model-based fault diagnosis. Many works have as start point the generalized Hamiltonian representation and there is no explication of the way in which this representation is obtained, as for example, starting from the Euler-Lagrange representation of the systems. In this work, a detailed analysis of how this representation is obtained from the n second order differential equations that describe a nonlinear Euler Lagrange system model is presented. In order to show in particular, after the general case, how the generalized Hamiltonian representation is obtained, some case studies are presented.Downloads
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