I have a problem with one of my study questions for an oral exam:
The Hamiltonian of a nonlinear mechanical system, i.e. the sum of the kinetic and potential energies, is often used as a Lyapunov function for controlling the position and velocity of the system. Consider a damped single degree-of-freedom system, m¨x+c˙x+kx=0, where m is the mass, c is the velocity-proportional damping and k is the stiffness. A candidate Lyapunov function is the Hamiltonian V=12m˙x2+12kx2. What are the reasons for leaving out the dissipative energy term when writing the Lyapunov function?
The only thing what comes into my mind for this question is, that a dissipative energy term in the Lyapunov function would have a "-" sign and the Lyapunov function would thus not be positive definite anymore. Is that correct?
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