抄録
In this paper, we show how a Dirac structure on the cotangent bundle can be induced from a given constraint distribution and also show how implicit port-controlled Lagrangian systems can be developed by using the induced Dirac structure, which may be regarded as an interconnection of mechanical networks by analogy with electric networks. It is demonstrated that the implicit port Lagrangian system can be applied to a class of nonholonomic mechanical systems by an example of a vertical rolling coin.
