Authors

Paul Kotyczka, Boris Lohmann

Abstract

When a port-Hamiltonian system is a result of state feedback control, as it is the case for interconnection and damping assignment passivity based control (IDA-PBC), the intuitive choice of the design parameters in the interconnection and damping matrices is often impeded by a complicated energy function. In our contribution we present a systematic approach to fix constant parameters of the design matrices of IDA-PBC, such that the closed loop system behaves like a linear sample system in the environment of the assigned equilibrium, while (nonlinear) asymptotic stability is guaranteed with the standard IDA-PBC arguments. As a further result we give conditions under which a simplified, e.g., linearized control law can be applied, preserving stability of the closed loop nonlinear system.

Citation

  • Journal: 2008 16th Mediterranean Conference on Control and Automation
  • Year: 2008
  • Volume:
  • Issue:
  • Pages: 964–969
  • Publisher: IEEE
  • DOI: 10.1109/med.2008.4602088

BibTeX

@inproceedings{Kotyczka_2008,
  title={{A constructive approach for the parametrization of interconnection and damping assignment passivity based control}},
  DOI={10.1109/med.2008.4602088},
  booktitle={{2008 16th Mediterranean Conference on Control and Automation}},
  publisher={IEEE},
  author={Kotyczka, Paul and Lohmann, Boris},
  year={2008},
  pages={964--969}
}

Download the bib file

References

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