A limit set stabilization by means of the Port Hamiltonian system approach

Authors

Carlos Aguilar‐Ibañez, Julio A. Mendoza‐Mendoza, Juan C. Martinez, Jose de Jesus Rubio, Miguel S. Suarez‐Castanon

Abstract

A solution to the stabilization problem of a compact set by means of the Interconnection and Damping Assignment Passivity‐Based Control methodology, for an affine nonlinear system, was introduced. To this end, we expressed the closed‐loop system as a Port Hamiltonian system, having the property of almost all their trajectories asymptotically converge to a convenient limit set, except for a set of measure zero. It was carried out by solving a partial differential equation (PDE) or single matching condition, which allows the desired energy level or limit set E to be shaped explicitly. The control strategy was tested using the magnetic beam balance system and the pendulum actuated by a direct current motor (DC‐motor), having obtained satisfactory results. Copyright © 2014 John Wiley & Sons, Ltd.

Citation

• Journal: International Journal of Robust and Nonlinear Control
• Year: 2015
• Volume: 25
• Issue: 12
• Pages: 1739–1750
• Publisher: Wiley
• DOI: 10.1002/rnc.3160

BibTeX

@article{Aguilar_Iba_ez_2014,
  title={{A limit set stabilization by means of the Port Hamiltonian system approach}},
  volume={25},
  ISSN={1099-1239},
  DOI={10.1002/rnc.3160},
  number={12},
  journal={International Journal of Robust and Nonlinear Control},
  publisher={Wiley},
  author={Aguilar‐Ibañez, Carlos and Mendoza‐Mendoza, Julio A. and Martinez, Juan C. and de Jesus Rubio, Jose and Suarez‐Castanon, Miguel S.},
  year={2014},
  pages={1739--1750}
}

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