Stabilization of mechanical and electromechanical systems

Limited controls are obtained which ensure global stability of the desired states, of mechanical and electromechanical systems that are described by Lagrange an equations of the second kind. Conditions are provided under which these equations can be implemented by inertial actuators. Tentative moves are shown to lead to weighting characteristics of the system. Stabilizing controls are incorporated in training a maipulator robot in moving to the desired position.