非平滑力学：モデル・力学・制御（第３版）
Nonsmooth Mechanics
Models, Dynamics and Control
Communications and Control Engineering Series
Brogliato, B.
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Now in its third edition, this standard reference is a comprehensive treatment of nonsmooth mechanical systems refocused to give more prominence to issues connected with control and modelling. It covers Lagrangian and Newton–Euler systems, detailing mathematical tools such as convex analysis and complementarity theory.