Authors

Satoru Sakai

Abstract

The paper discusses a Casimir based analysis of the General Actuator Model by Neville Hogan in which all actuators are classified into only two types: the Norton type and the Thevenin (Thévenin) type. Since the original version of the General Actuator Model was very weakly defined, the link to the fruitful port Hamiltonian framework is not clarified yet. First, a subset of the General Actuator Model is focused and we discuss a new port based modeling of the two types of the General Actuator Model. To clarify the link, a relation using the Casimir function between the two types is found as their structural properties. Second, a special mechatronic example whose energy is non-quadratic is analyzed as well as the popular mass-spring example. A hidden energy structure in these two examples is revealed unexpectedly. Not only a new observation for the special mechatronic example but also a new look at the popular mass-spring example are provided.

Keywords

Actuators; Non-quadratic energy; Mechatronics; Classical circuit theory

Citation

  • Journal: IFAC-PapersOnLine
  • Year: 2024
  • Volume: 58
  • Issue: 6
  • Pages: 137–142
  • Publisher: Elsevier BV
  • DOI: 10.1016/j.ifacol.2024.08.270
  • Note: 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024- Besançon, France, June 10 – 12, 2024

BibTeX

@article{Sakai_2024,
  title={{A Casimir based Analysis of a Class of the General Actuator Model}},
  volume={58},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2024.08.270},
  number={6},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Sakai, Satoru},
  year={2024},
  pages={137--142}
}

Download the bib file

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