Dirac Structures and Implicit Lagrangian Systems

Abstract

In modeling of complex mechanical systems and physical systems, the idea of interconnections has played an essential role. Recently, it has been clarified that such interconnections can be represented by Dirac structures and also be incorporated into associated implicit Hamiltonian systems. In the paper, we shall illustrate how Dirac structures are related with Lagrangian systems, especially, in the context of implicit Lagrangian systems.