The extended lambda-method for controlled Lagrangian systems
Abstract
This paper extends the $\lambda$-method, which was developed in (Auckly et al., 2000; Auckly and Kapintaski, 2003) to solve effectively PDE's involved in the method of controlled Lagrangian systems, by taking into account a gyroscopic term. The gyroscopic force provides more free parameters when one designs stabilizing controllers in the method of controlled Lagrangian systems. We illustrate the extended lambda-method in the example of the Furuta pendulum.
