Controlled Lagrangians and stabilization of discrete mechanical systems

Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria of discrete mechanical systems with symmetry and equilibria of discrete mechanical systems with broken symmetry. Unexpected phenomena arise in the controlled Lagrangian approach in the discrete context that are not present in the continuous theory. In particular, to make the discrete theory effective, one can make an appropriate selection of momentum levels or, alternatively, introduce a new parameter into the controlled Lagrangian to complete the kinetic shaping procedure. New terms in the controlled shape equation that are necessary for potential shaping in the discrete setting are introduced. The theory is illustrated with the problem of stabilization of the cart-pendulum system on an incline, and the application of the theory to the construction of digital feedback controllers is also discussed