Direct linearization of continuous dynamical systems Conference Paper uri icon


  • The quadratic form of the Lagrangian can be used to directly linearize the equations of motion for discrete dynamical systems. A method for directly generating linearized equations of motion is proposed for distributed parameter systems. The method presented requires only velocity-level kinematics to form the Lagrangian, dynamic potential, and equilibrium configuration (,3) for the system. Select partial derivatives of the Lagrangian can then be computed and used to directly construct the linearized equations of motion for each equilibrium configuration. This method can greatly reduce the effort necessary to compute linearized equations of motion for continuous dynamical systems. Two illustrative examples are presented.

published proceedings

  • Advances in the Astronautical Sciences

author list (cited authors)

  • Jones, J. M., Hurtado, J. E., & Sinclair, A. J.

complete list of authors

  • Jones, JM||Hurtado, JE||Sinclair, AJ

publication date

  • December 2006