# Configuration Controllability of Simple Mechanical Control Systems

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### Andrew D. Lewis and Richard M. Murray

*SIAM J. Control and Optimization*, 35(3):766-790

In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is also derived. This condition involves a new object which we call the symmetric product. Of particular interest is a definition of "equilibrium controllability" for which we are able to derive computable sufficient conditions. Examples illustrate the theory.

- CDS

Technical Report: ftp://ftp.cds.caltech.edu/pub/cds/techreports/postscript/cds95-015.pdf

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