【摘要】 本文将完整系统的拉格朗日定理推广到非完整系统。首先讨论了系统平衡的充要条件，其次对保守系统利用李亚普诺夫直接法和稳定性定义证明了推广的稳定性定理；最后举例说明定理的应用．更多还原

【Abstract】 In this paper, Lagrange’s theorem of holonomic systems is extended to Chaplygin’s nonholonomic systems. Necessary and sufficient condition of equilibrium for the systems is first discussed. Band on Liapunov’s direct method and the definition of stability, a extended theorem of stability is then proved to conservative Chaplygin’s systems. An illustrative example is finally given.更多还原