در کنترل ایزو انرژی های مضر در سیستم با نیروهای ژیروسکوپی

We consider the problem of transfer of a Lagrangian system with gyroscopic forces to a given state in the configuration space by means of an impulsive isoenergetic control. This type of control can change instantly the direction of the generalized velocity, but preserve the total energy of the system. We present sufficient conditions for global controllability by a finite number of impulsive switchings, and some results related to the estimation of this number.