Remark 1.

Suppose now we are given an underactuated bidimensional system with simple Hamiltonian which
is stable at 0. Suppose also that there is a positive-definite simple Lyapunov function V for this system at 0.
Then, the kinetic and potential terms must satisfy the kinetic and potential equations. If
b(0)
,
c(0)

(0) 6=

then we have seen that conditions in Theorem (??) must hold. If on the contrary
b(0)
,
c(0)

(0) =
then at the origin (we omit the symbol 0)

a b = a b =
> 0.
c
c
Since the potential term v is positive definite at (0, 0), we must have
vyy > 0

2
vxx vyy vxy
> 0.

and

Differentiating the potential equations we may write the second inequality in terms of the potential term of the
Hamiltonian and vyy . Indeed (recall = b/c and vx = vy = hx = hy = 0)
vxy =

hxy
a b

and

vxx =

hxx
a b

so
vxx vyy

2
vxy

hxx
=
vyy
a b

Then
hxx
vyy >
a b

hxy
a b

and since , vyy and a b are positive, it is necessary that

hxx > 0

hxy
a b

2
0,

2
.