Control of single input Hamiltonian systems based on the flatness of their tangent linearization

We explore the incremental flatness based control of single input under-actuated nonlinear Hamiltonian systems exhibiting a controllable tangent linearization model around a given equilibrium point. General properties of controllable linearized Hamiltonian systems are presented, which significantly ease the stabilizing, or output reference trajectory tracking, feedback controller design for the nonlinear system. Controllability of the tangent...