Abstractions for Mechanical Systems

Christoffer Sloth, Rafael Wisniewski

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

2 Citations (Scopus)
409 Downloads (Pure)


This paper proposes a method for discretizing the state space of mechanical systems. This is a first attempt in using reduction techniques for mechanical systems in the partitioning of the state space. The method relies on a combination of transversal and tangential manifolds for the conservative mechanical system. The tangential manifolds are generated using constants of motion, which can be derived from Noether's theorem. The transversal manifolds are subsequently generated on a reduced space, given by the Routhian, via action-angle coordinates. The method fully applies for integrable systems.

We focus on a particular aspect of abstraction - partitioning the state space, as existing methods can be applied on the discretized state space to obtain an automata-based model. The contribution of the paper is to show that well-known reduction methods can be used to generate abstract models, which can be used for formal verification.
Original languageEnglish
Title of host publicationLagrangian and Hamiltonian Methods for Non Linear Control
Number of pages6
Publication date2012
Publication statusPublished - 2012
Event4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control - Bertinoro, Italy
Duration: 29 Aug 201231 Aug 2012


Workshop4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
SeriesI F A C Workshop Series

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