5. Dynamic model

The Lagrangian representation and the Hamil- tonian representation are two possible representations for defining the dynamic behavior of a mechanical system. In the first case, the model of a mechanical system with n degrees of freedom is described by n second-order differential equations in terms of generalized coordinates. In the second case, the same mechanical system is described by 2n first-order differential equations. Each generalized velocity is replaced by the associated conjugate...