Partial decomposition of nonlinear Euler–Lagrange equations with a state transform Ghent University
The Euler-Lagrange (EL) formalism is extensively used to describe a wide range of systems. The choice of the generalised coordinates is not unique and influences the intricacy of the coupling terms between the equations of motion. A coordinate transformation can vastly reduce this complexity, yielding a (partially) decoupled system description. This work proposes a state transform of the original EL equation resulting in an identity inertia ...