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This proceedings volume documents the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control (LHMNLC 06) that was held in Nagoya, Japan, on July 19-21, 2006. The ?rst workshop in this series was chaired and organized by ProfessorsN. E. Leonard and R. Ortega, and was held in Princeton, USA, in March 2000. The second one was chaired and organized by Professors A. Astol?, F. Gordillo and A. J. van der Schaft, and was held in Seville, Spain, in April 2003. A vibrantsynergyis documented between areassuch as nonlinear controland optimal control theory, di?erential and Riemannian geometry, Lagrangian and Hamiltonian mechanics, nonsmooth optimization, and dynamical systems. The articles in this volume focus on technological areas including not only control of mechanical systems, but also geometricoptimization, networkedcontrol,control of chemical processes, robotic locomotion, quantum systems, multi-agent s- tems, and robotic grasping and telemanipulation. Novel scienti?c contribution are proposed in a wide variety of techniques including synchronization, control Lyapunov functions, energy and power-based control, optimization algorithms, fault-tolerantcontrol,geometricreduction theory, and iterativelearning control, to name a few. Financial support for the workshop was provided by the 21st Century COE Program (Tokyo Institute of Technology) Innovation of Creative Engineering through the Development of Advanced Robotics, the Suzuki Foundation, the Daiko Foundation and the University of Nagoya. We also would like to thank all the participants to the workshop, all the members of the national and - ternational organizing committees, the IFAC Secretariat, the IFAC Publications Committee, and the Springer-Verlag review board for the LNCIS series.

Lagrangian and Hamiltonian Methods For Nonlinear Control 2006: Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006

A Differential-Geometric Approach for Bernstein's Degrees-of-Freedom Problem.- Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping.- Synchronization of Networked Lagrangian Systems.- An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems.- Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators.- Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems.- Kinematic Compensation in Port-Hamiltonian Telemanipulation.- Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System.- Towards Power-Based Control Strategies for a Class of Nonlinear Mechanical Systems.- Power Shaping Control of Nonlinear Systems: A Benchmark Example.- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes.- Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples.- An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems.- On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers.- Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry.- On the Interconnection Structures of Irreversible Physical Systems.- Rolling Problems on Spaces of Constant Curvature.- Dirac Structures and the Legendre Transformation for Implicit Lagrangian and Hamiltonian Systems.- Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation.- Principal Subspace Flows Via Mechanical Systems on Grassmann Manifolds.- Approximation of Generalized Minimizers and Regularization of Optimal Control Problems.- Minimum Time Optimality of a Partially Singular Arc: Second Order Conditions.- Hamiltonian Engineering for Quantum Systems.- Stability Analysis of 2-D Object Grasping by a Pair of Robot Fingers with Soft and Hemispherical Ends.- Intrinsic Control Designs for Abstract Machines.- Shape Control of a Multi-agent System Using Tensegrity Structures.- A Family of Pumping-Damping Smooth Strategies for Swinging Up a Pendulum.- An Energy-Shaping Approach with Direct Mechanical Damping Injection to Design of Control for Power Systems.- Remarks on Quadratic Hamiltonians in Spaceflight Mechanics.- Controlling a Submerged Rigid Body: A Geometric Analysis.- Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control.