Titlebook: Nonholonomic Mechanics and Control; A.M. Bloch,P. S. Krishnaprasad,R.M. Murray Textbook 2015Latest edition Springer Science+Business Media

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A.M. Bloch,P. S. Krishnaprasad,R.M. MurrayExplores some of the connections between control theory and geometric mechanics.Offers a unified treatment of nonlinear control theory and constrained mechanical systems.Synthesizes material not avail

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Basic Concepts in Geometric Mechanics, for parts of the rest of this book. Readers well versed in this material may omit part or all of it. Parts of the rest of the book can be read without this material, so the reader can return to it as the need arises.

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Optimal Control,t principle) appropriate for the dynamics of constrained mechanical systems, which we studied extensively in Chapter?., while the other is variational, which is appropriate for optimal control problems. In this chapter we concentrate on these optimal control problems.

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