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This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities. The material is presented in an approachable fashion by considering concrete configuration manifolds of increasing complexity, which then motivates and naturally leads to the more general formulation that follows. Understanding of the material is enhanced by numerous in-depth examples throughout the book, culminating in non-trivial applications involving multi-body systems. This book is written for a general audience of mathematicians, engineers, and physicists with a basic knowledge of mechanics. Some basic background in differential geometry is helpful, but not essential, as the relevant concepts are introduced in the book, thereby making the material accessible to a broad audience, and suitable for either self-study or as the basis for a graduate course in applied mathematics, engineering, or physics.
Modeling and Applied Mathematics Modeling the behavior of real physical systems by suitable evolution equa tions is a relevant, maybe the fundamental, aspect of the interactions be tween mathematics and applied sciences. Modeling is, however, only the first step toward the mathematical description and simulation of systems belonging to real world. Indeed, once the evolution equation is proposed, one has to deal with mathematical problems and develop suitable simula tions to provide the description of the real system according to the model. Within this framework, one has an evolution equation and the re lated mathematical problems obtained by adding all necessary conditions for their solution. Then, a qualitative analysis should be developed: this means proof of existence of solutions and analysis of their qualitative be havior. Asymptotic analysis may include a detailed description of stability properties. Quantitative analysis, based upon the application ofsuitable methods and algorithms for the solution of problems, ends up with the simulation that is the representation of the dependent variable versus the independent one. The information obtained by the model has to be compared with those deriving from the experimental observation of the real system. This comparison may finally lead to the validation of the model followed by its application and, maybe, further generalization.
Written jointly by a specialist in geophysical fluid dynamics and an applied mathematician, this is the first accessible introduction to a new set of methods for analysing Lagrangian motion in geophysical flows. The book opens by establishing context and fundamental mathematical concepts and definitions, exploring simple cases of steady flow, and touching on important topics from the classical theory of Hamiltonian systems. Subsequent chapters examine the elements and methods of Lagrangian transport analysis in time-dependent flows. The concluding chapter offers a brief survey of rapidly evolving research in geophysical fluid dynamics that makes use of this new approach.
Problems involving synthesis of mathematical models of various physical systems, making use of these models in practice and verifying them qualitatively has - come an especially important area of research since more and more physical - periments are being replaced by computer simulations. Such simulations should make it possible to carry out a comprehensive analysis of the various properties of the system being modelled. Most importantly its dynamic properties can be - dressed in a situation where this would be difficult or even impossible to achieve through a direct physical experiment. To carry out a simulation of a real, phy- cally existing system it is necessary to have its mathematical description; the s- tem being described mathematically by equations, which include certain variables, their derivatives and integrals. If a single independent variable is sufficient in - der to describe the system, then derivatives and integrals with respect to only that variable will appear in the equations. Differentiation of the equation allows the integrals to be eliminated and produces an equation which includes derivatives with respect to only one independent variable i. e. an ordinary differential equation. In practice, most physical systems can be described with sufficient accuracy by linear differential equations with time invariant coefficients. Chapter 2 is devoted to the description of models by such equations, with time as the independent va- able.
Introduction to Dynamical Systems and Geometric Mechanics provides a comprehensive tour of two fields that are intimately entwined: dynamical systems is the study of the behavior of physical systems that may be described by a set of nonlinear first-order ordinary differential equations in Euclidean space, whereas geometric mechanics explore similar systems that instead evolve on differentiable manifolds. The first part discusses the linearization and stability of trajectories and fixed points, invariant manifold theory, periodic orbits, Poincaré maps, Floquet theory, the Poincaré-Bendixson theorem, bifurcations, and chaos. The second part of the book begins with a self-contained chapter on differential geometry that introduces notions of manifolds, mappings, vector fields, the Jacobi-Lie bracket, and differential forms.
Reprint of classic reference work. Over 400 books have been published in the series Classics in Mathematics, many remain standard references for their subject. All books in this series are reissued in a new, inexpensive softcover edition to make them easily accessible to younger generations of students and researchers. "... The book has many good points: clear organization, historical notes and references at the end of every chapter, and an excellent bibliography. The text is well-written, at a level appropriate for the intended audience, and it represents a very good introduction to the basic theory of dynamical systems."
In the analysis and synthesis of contemporary systems, engineers and scientists are frequently confronted with increasingly complex models that may simultaneously include components whose states evolve along continuous time and discrete instants; components whose descriptions may exhibit nonlinearities, time lags, transportation delays, hysteresis effects, and uncertainties in parameters; and components that cannot be described by various classical equations, as in the case of discrete-event systems, logic commands, and Petri nets. The qualitative analysis of such systems requires results for finite-dimensional and infinite-dimensional systems; continuous-time and discrete-time systems; continuous continuous-time and discontinuous continuous-time systems; and hybrid systems involving a mixture of continuous and discrete dynamics. Filling a gap in the literature, this textbook presents the first comprehensive stability analysis of all the major types of system models described above. Throughout the book, the applicability of the developed theory is demonstrated by means of many specific examples and applications to important classes of systems, including digital control systems, nonlinear regulator systems, pulse-width-modulated feedback control systems, artificial neural networks (with and without time delays), digital signal processing, a class of discrete-event systems (with applications to manufacturing and computer load balancing problems) and a multicore nuclear reactor model. The book covers the following four general topics: * Representation and modeling of dynamical systems of the types described above * Presentation of Lyapunov and Lagrange stability theory for dynamical systems defined on general metric spaces * Specialization of this stability theory to finite-dimensional dynamical systems * Specialization of this stability theory to infinite-dimensional dynamical systems Replete with exercises and requiring basic knowledge of linear algebra, analysis, and differential equations, the work may be used as a textbook for graduate courses in stability theory of dynamical systems. The book may also serve as a self-study reference for graduate students, researchers, and practitioners in applied mathematics, engineering, computer science, physics, chemistry, biology, and economics.