Koditschek, Daniel E2023-05-222023-05-221988-06-012014-06-26https://repository.upenn.edu/handle/20.500.14332/33906A novel Lyapunov function is introduced. The author treats the PD compensated mechanical system, which is defined on a configuration space which admits a trivial tangent bundle. Previous results are derived in a simpler form, namely, that such systems are exponentially stable, hence BIBO stable, and steady-state ouptut magnitudes are proportional to input magnitudes with a constant of proportionality depending in a simple fashion on the PD gain magnitudes. For more information: Kod*LabGRASPKodlabElectrical and Computer EngineeringEngineeringSystems EngineeringPresentation