On Structure Preserving Transformations in Hamiltonian Control Systems

Hamiltonian control systems with natural output in the sense of [12] are consideredWe investigate statedependent co-ordinate transformations in the space of controls u and observables y which preserve the Hamiltonian structure.These transformations can be characterized and constructed by canonical transformations in the (y , u)-pace.The results generalize known statements on Hamiltonian systems affine in the control and hold for general gradient-like control systems as well.