Koditschek, Daniel E2023-05-222023-05-221987-03-012014-08-14https://repository.upenn.edu/handle/20.500.14332/34158The “mechanical systems” define a large and important class of highly nonlinear dynamical equations which, for example, encompasses all robots. In this report it is shown that a strict Lyapunov Function suggested by the simplest examplar of the class - a one degree of freedom linear time invariant dynamical system - may be generalized over the entire class. The report lists a number of standard but useful consequences of this discovery. The analysis suggests that the input-output properties of the entire class of nonlinear systems share many characteristics in common with those of a second order, phase canonical, linear time invariant differential equation. For more information: Kod*LabKodlabElectrical and Computer EngineeringEngineeringSystems EngineeringReport