The purpose of this paper is to perform an error analysis of the variational integrators of mechanical systems subject to external forcing. Es- sentially, we prove that when a discretization of contact order r of the La- ...

In this paper we propose a process of lagrangian reduction and<br />reconstruction for nonholonomic discrete mechanical systems where the action of a continuous symmetry group makes the configuration space a principal ...

Abstract. A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and ...

We briefly review the notion of second order constrained (continuous) system (SOCS) and then propose a discrete time counterpart of it, which we naturally call discrete second order constrained system (DSOCS). To illustrate ...