1010.0295 (Petre Birtea et al.)

Energy methods in the stability problem for the $\mathfrak{so}(4)$ free
rigid body    [PDF]

Petre Birtea, Ioan Casu

For the $\mathfrak{so}(4)$ free rigid body the stability problem for the isolated equilibria has been completely solved using Lie-theoretical and topological arguments. For each case of nonlinear stability previously found we construct a Lyapunov function. These Lyapunov functions are linear combinations of Mishchenko's constants of motion.

View original: http://arxiv.org/abs/1010.0295