Symmetries and properties of the energy-Casimir mapping in the ball-plate problem (Q1798424)

The authors study a system derived by an optimal control problem for the ball-plate dynamics. The control is the velocity of the center of the ball. They give two symplectic realizations of the considered system and their corresponding Lagrangian realizations. Some variational symmetries of the considered system are determined. The image of the energy-Casimir mapping is described and some connections with the dynamics of the considered system are presented. The approach regards stability problem, homoclinic and periodic orbits, and their connections with the image and the fibers of the energy-Casimir mapping, respectively.