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中文摘要：
学习 rheonomic 和 nonholonomic 的稳定性是一个困难的问题机械系统。特别从微分方程直接构造 Lyapunov 功能是困难的。但是坡度系统确切是合适的在 Lyapunov 功能的帮助下学习一个动态系统的稳定性。简单 rheonomic nonholonomic 的解决方案的稳定性抑制了系统在这份报纸被学习。第一，系统的运动的微分方程被建立。第二，概括力量在系统上在被施加的一个问题以便答案是稳定的被建议。最后， rheonomic nonholonomic 系统的稳定的解决方案能被使用坡度系统构造。
英文摘要：
It is a difficult problem to study the stability of the rheonomic and nonholonomic mechanical systems. Especially it is difficult to construct the Lyapunov function directly from the differential equation. But the gradient system is exactly suitable to study the stability of a dynamical system with the aid of the Lyapunov function. The stability of the solution for a simple rheonomic nonholonomic constrained system is studied in this paper. Firstly, the differential equations of motion of the system are established. Secondly, a problem in which the generalized forces are exerted on the system such that the solution is stable is proposed. Finally, the stable solutions of the rheonomic nonholonomic system can be constructed by using the gradient systems.
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A necessary and sufficient condition for transforming autonomoussystems into linear autonomous Birkh
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