2020/09/18 by Lanza, Lukas
#Dynamical Systems (math.DS) #FOS: Mathematics
paper · doi:10.48550/arxiv.2009.08726
We consider nonlinear multibody systems and present a suitable set of coordinates for the internal dynamics which allow to decouple the internal dynamics without the need to compute the Byrnes-Isidori form. Furthermore, we derive sufficient conditions for the system parameters such that the internal dynamics of a class of systems with constant mass matrix are bounded-input, bounded-output stable.