Stability and Control of a Class of Constrained Hamiltonian Systems*

This paper investigates the stability and control design of a class of constrained Hamiltonian systems, and presents some results for the systems. Firstly, we investigate the stability of constrained Hamiltonian systems. Based on the structural properties of the Hamiltonian systems, several useful stability criteria are derived. Then, we discuss feedback stabilization of the constrained Hamiltonian systems. Finally, we study the H
_∞
control of constrained Hamiltonian systems, and design an effective control law.