On stability of mechanical systems with homogeneous and delayed forces

The problem of delay-independent stability is studied for a class of mechanical systems under dissipative, non-conservative and potential forces, which are described by homogeneous terms. The obtained conditions are extended to the case of switched force model under arbitrary and restricted commutation laws. The proof is based on analysis of a complete Lyapunov-Krasovskii functional (common and multiple ones are considered for switched scenario). The proposed stability conditions are illustrated by simulation examples.