  In a series of papers, D. E. Chang, et al., proved and experimentally
demonstrated a phenomenon they termed "damping-induced self-recovery". However,
these papers left a few questions concerning the observed phenomenon unanswered
- in particular, the effect of the intervening lubricant-fluid and its
viscosity on the recovery, the abrupt change in behaviour with the introduction
of damping, a description of the energy dynamics, and the curious occurrence of
overshoots and oscillations and its dependence on the control law. In this
paper we attempt to answer these questions through theory. In particular, we
derive an expression for the infinite-dimensional fluid-stool-wheel system,
that approximates its dynamics to that of the better understood
finite-dimensional case.
