{"id":"https://openalex.org/W2053999750","doi":"https://doi.org/10.1109/acc.2010.5531096","title":"Linearizations for mechanical systems in generalized coordinates","display_name":"Linearizations for mechanical systems in generalized coordinates","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2053999750","doi":"https://doi.org/10.1109/acc.2010.5531096","mag":"2053999750"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2010.5531096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531096","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5105209001","display_name":"Eric R. Johnson","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E R Johnson","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL, USA 60208"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL, USA 60208","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T D Murphey","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL, USA 60208"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL, USA 60208","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"629","last_page":"633"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13286","display_name":"Modeling and Simulation Systems","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5184850096702576},{"id":"https://openalex.org/keywords/generalized-coordinates","display_name":"Generalized coordinates","score":0.4890769124031067},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4269750416278839},{"id":"https://openalex.org/keywords/algebra-over-a-field","display_name":"Algebra over a field","score":0.3382175862789154},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3278040289878845},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3001326322555542},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.24411743879318237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18274223804473877},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.15285629034042358}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5184850096702576},{"id":"https://openalex.org/C105815890","wikidata":"https://www.wikidata.org/wiki/Q1057607","display_name":"Generalized coordinates","level":2,"score":0.4890769124031067},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4269750416278839},{"id":"https://openalex.org/C136119220","wikidata":"https://www.wikidata.org/wiki/Q1000660","display_name":"Algebra over a field","level":2,"score":0.3382175862789154},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3278040289878845},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3001326322555542},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.24411743879318237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18274223804473877},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.15285629034042358}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2010.5531096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531096","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W70215756","https://openalex.org/W639693478","https://openalex.org/W1534096605","https://openalex.org/W1564897360","https://openalex.org/W1976169918","https://openalex.org/W1999484566","https://openalex.org/W2005993973","https://openalex.org/W2095782953","https://openalex.org/W2096450737","https://openalex.org/W2105289524","https://openalex.org/W2123224804","https://openalex.org/W2138455707","https://openalex.org/W3217246742"],"related_works":["https://openalex.org/W2090649758","https://openalex.org/W2963070987","https://openalex.org/W2331592954","https://openalex.org/W2045490848","https://openalex.org/W1987949650","https://openalex.org/W2332694326","https://openalex.org/W4249089511","https://openalex.org/W4287734682","https://openalex.org/W2913338188","https://openalex.org/W2351859806"],"abstract_inverted_index":{"We":[0],"describe":[1],"an":[2,155],"algorithm":[3],"for":[4,11,29,43,52],"calculating":[5,77],"the":[6,9,49,78,101,104,108,131,164,174],"linearization":[7,166],"of":[8,24,55,76,80,92,103,111,133,177],"dynamics":[10,25,79,105],"arbitrary":[12,81],"constrained":[13],"mechanical":[14,57,82,127],"systems":[15,58,83,128,140],"in":[16,84],"generalized":[17,85,134],"coordinates":[18,86],"without":[19,87,106,129],"using":[20,107],"symbolic":[21,109],"equations.":[22],"Linearizations":[23],"are":[26],"useful":[27],"tools":[28],"controllability":[30],"and":[31,34,45,123,146,163],"stability":[32],"analysis":[33],"can":[35],"be":[36],"used":[37],"to":[38,99,119,154],"generate":[39],"locally":[40],"stabilizing":[41],"controllers":[42],"linear":[44],"non-linear":[46],"systems.":[47],"However,":[48],"computational":[50],"expense":[51],"finding":[53],"linearizations":[54,102],"complex":[56,126],"is":[59,152],"often":[60],"cited":[61],"as":[62],"a":[63,159],"limiting":[64],"factor":[65],"that":[66,97],"prevents":[67],"their":[68],"use.":[69],"Recent":[70],"work":[71],"has":[72],"introduced":[73],"new":[74],"methods":[75],"deriving":[88],"large,":[89],"system-specific":[90],"equations":[91,110,176],"motion.":[93,112,178],"This":[94],"paper":[95],"extends":[96],"approach":[98],"calculate":[100],"Using":[113],"these":[114],"ideas,":[115],"it":[116],"becomes":[117],"practical":[118],"both":[120],"simulate,":[121],"analyze,":[122],"control":[124],"more":[125],"sacrificing":[130],"benefits":[132],"coordinates.":[135],"Furthermore,":[136],"this":[137],"method":[138],"addresses":[139],"with":[141,158,168],"closed":[142,160],"kinematic":[143,161],"chains,":[144],"constraints,":[145],"external":[147],"non-conservative":[148],"forcing.":[149],"The":[150],"technique":[151],"applied":[153],"example":[156],"system":[157],"chain":[162],"resulting":[165],"agrees":[167],"results":[169],"found":[170],"by":[171],"symbolically":[172],"differentiating":[173],"full":[175]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
