On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems

Damping injection is a well-studied tool in nonlinear control theory to stabilize and shape the transient of mechanical systems. Interestingly, coupled damping yielding gyroscopic forces has received far less attention. This paper aims fill this gap for that couple actuated unactuated coordinates. First, we establish sufficient conditions stability closed loop. Then, provide analytic results proving injecting may improve closed-loop performance. We illustrate via stabilization three