Related papers: The interplay between Dirac systems, Morse familie…
Dirac structures and Morse families are used to obtain a geometric formalism that unifies most of the scenarios in mechanics (constrained calculus, nonholonomic systems, optimal control theory, higher-order mechanics, etc.), as the examples…
Many mechanical systems are large and complex, despite being composed of simple subsystems. In order to understand such large systems it is natural to tear the system into these subsystems. Conversely we must understand how to invert this…
Interconnected systems are an important class of mathematical models, as they allow for the construction of complex, hierarchical, multiphysics, and multiscale models by the interconnection of simpler subsystems. Lagrange--Dirac mechanical…
In these notes, we present an alternative version of discrete Dirac mechanics using Dirac structures. We first establish a notion of 'continuous Dirac system' and then propose a definition of discrete Dirac system, proving that it is…
In this paper, we introduce the notion of port-Lagrangian systems in nonequilibrium thermodynamics, which is constructed by generalizing the notion of port-Lagrangian systems for nonholonomic mechanics proposed in Yoshimura and Marsden…
After recalling standard nonlinear port-Hamiltonian systems and their algebraic constraint equations, called here Dirac algebraic constraints, an extended class of port-Hamiltonian systems is introduced. This is based on replacing the…
In this paper we present a unifying geometric and compositional framework for modeling complex physical network dynamics as port-Hamiltonian systems on open graphs. Basic idea is to associate with the incidence matrix of the graph a Dirac…
We discuss a new geometric construction of port-Hamiltonian systems. Using this framework, we revisit the notion of interconnection providing it with an intrinsic description. Special emphasis on theoretical and applied examples is given…
We geometrically describe optimal control problems in terms of Morse families in the Hamiltonian framework. These geometric structures allow us to recover the classical first order necessary conditions for optimality and the starting point…
The dynamical motion of mechanical systems possesses underlying geometric structures, and preserving these structures in numerical integration improves the qualitative accuracy and reduces the long-time error of the simulation. For a single…
The concept of a Dirac algebroid, which is a linear almost Dirac structure on a vector bundle, was designed to generate phase equations for mechanical systems with linear nonholonomic constraints. We apply it to systems with magnetic-like…
In this paper, we develop the theoretical foundations of discrete Dirac mechanics, that is, discrete mechanics of degenerate Lagrangian/Hamiltonian systems with constraints. We first construct discrete analogues of Tulczyjew's triple and…
The paper investigates a systematic approach to modeling in nonequilibrium thermodynamics by focusing upon the notion of interconnections, where we propose a novel Lagrangian variational formulation of such interconnected systems by…
Port-Hamiltonian systems provide an energy-based formulation with a model class that is closed under structure preserving interconnection. For continuous-time systems these interconnections are constructed by geometric objects called Dirac…
A new geometric approach to systems with boundary energy flow is developed using infinite-dimensional Dirac structures within the Lagrangian formalism. This framework satisfies a list of consistency criteria with the geometric setting of…
Dirac structures are geometric objects that generalize Poisson structures and presymplectic structures on manifolds. They naturally appear in the formulation of constrained mechanical systems and play an essential role in structuring a…
Motivated by recent work in this area we expand on a generalization of port-Hamiltonian systems that is obtained by replacing the Hamiltonian function representing energy storage by a general Lagrangian subspace. This leads to a new class…
This paper develops the theory of discrete Dirac reduction of discrete Lagrange-Dirac systems with an abelian symmetry group acting on the configuration space. We begin with the linear theory and, then, we extend it to the nonlinear setting…
We study the discretization of (almost-)Dirac structures using the notion of retraction and discretization maps on manifolds. Additionally, we apply the proposed discretization techniques to obtain numerical integrators for port-Hamiltonian…
The gauge symmetries of a general dynamical system can be systematically obtained following either a Hamiltonean or a Lagrangean approach. In the former case, these symmetries are generated, according to Dirac's conjecture, by the first…