Lagrangian and Hamiltonian methods for nonlinear control : proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006 ; [this proceedings volume documents the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control (LHMNLC'06) that was held in Nagoya, Japan, on July 19-21, 2006]