Kinematic Constraint Instability in Multi-DOF System Models

From the above discussions, one can conclude that, if — R 0 is large enough such that every trajectory starting from uo,—Q.), where mq (r-/ /kmr tan 1)+ cil/k) reaches the origin asymptotically, then the steady-sliding equilibrium point is globally stable. Otherwise, the region of attraction is only a subset of state space. 

8 Kinematic Constraint Instability in Multi-DOF System Models 

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