Reduction, linearization, and stability of relative equilibria for mechanical systems on Riemannian manifolds (Q2460090)

This excellent tutorial of Riemannian geometric methods for mechanical control systems is devoted to three main subjects: 1) reduction theory of Marsden-Weinstein-Ratiu, 2) linearization with a special view towards the relationship between the Jacobi equation of geodesic variation and affine connection control systems, 3) stability of relative equilibria based on the Lyapunov stability criterion and the LaSalle invariance principle. For additional arguments that geometry connects remarkable domains of modern theory of control we pointed out a book by the same authors [Geometric control of mechanical systems. Modeling, analysis, and design for simple mechanical control systems. Texts in Applied Mathematics 49. Berlin: Springer (2005; Zbl 1066.70002)].