Implicit and explicit representations of smooth, finite-dimensional port-Hamiltonian systems are studied from the perspective of their use in numerical simulation and control design. Implicit representations arise when a system is modeled in Cartesian coordinates and when the system constraints are applied in the form of additional algebraic equations. Explicit representations are derived when ...

In this paper, two methods for approximating the stabilizing solution of the Hamilton-Jacobi equation are proposed using symplectic geometry and a Hamiltonian perturbation technique as well as stable manifold theory. The first method uses the fact that the Hamiltonian lifted system of an integrable system is also integrable and regards the corresponding Hamiltonian system of the Hamilton-Jacobi...

The idea of the normalisation of the Hamiltonian system is to simplify the system by transforming Hamiltonian canonically to an easy system. It is under symplectic conditions that the Hamiltonian is preserved under a specific transformation—the so-called Lie transformation. In this review, we will show how to compute the normal form for the Hamiltonian, including computing the general function ...

We consider numerical methods for resolving the dynamics of a Hamiltonian Nbody problem subject to hard-sphere inequality constraints. The dynamics of these mixed systems consists of smooth flow of a Hamiltonian system between collisions with an impulsive momentum exchange at the points of collision. The inclusion of these impulses makes traditional backward error analysis inappropriate since t...