The classical development is followed in the case where the configuration manifold is the vector space Rn. A Lagrangian function L:Rn→R1 is introduced and variational methods are used to derive Euler-Lagrange equations and Hamilton’s equations. Several mechanical systems are studied to illustrate the developments.
CITATION STYLE
Lee, T., Leok, M., & McClamroch, N. H. (2018). Classical lagrangian and hamiltonian dynamics. In Interaction of Mechanics and Mathematics (pp. 89–129). Springer Verlag. https://doi.org/10.1007/978-3-319-56953-6_3
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