Is it worth learning differential geometric methods for modeling and control of mechanical systems?

摘要

Evidence is presented to indicate that the answer is, "Yes, sometimes." Before I get to the actual writing of this paper, let me say a few words about the manner and spirit in which it is written. Normally when writing technical articles I try to be rigorous and precise, giving clear definitions, stating clear theorems, etc. However, I believe that this should not be the tone of this paper, given the intent of the special issue for which it is being written.