The stability and stabilization of the equilibrium positions of non- holonomic systems (Q908723)

The stability and the possibility of stabilizing in the linear approximation the equilibrium positions of nonholonomic systems are studied. The number of roots of the characteristic equation on the imaginary axis in the neighbourhood of the equilibrium is greater than the number of non-integrable connections. Some of these roots may be pure imaginary. The state of the system is described by Routh variables. The control forces are assumed to be dependent on the momenta, the Lagrange coordinates, and their velocities.