A Lyapunov Approach to Robust Regulation of Distributed Port–Hamiltonian Systems

Authors

Lassi Paunonen, Yann Le Gorrec, Héctor Ramírez

Abstract

This article studies robust output tracking and disturbance rejection for boundary-controlled infinite-dimensional Port–Hamiltonian systems including second-order models such as the Euler–Bernoulli beam equation. The control design is achieved using the internal model principle and the stability analysis using a Lyapunov approach. Contrary to existing works on the same topic, no assumption is made on the external well-posedness of the considered class of PDEs. The results are applied to robust tracking of a piezo actuated tube used in atomic force imaging.

Citation

• Journal: IEEE Transactions on Automatic Control
• Year: 2021
• Volume: 66
• Issue: 12
• Pages: 6041–6048
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tac.2021.3069679

BibTeX

@article{Paunonen_2021,
  title={{A Lyapunov Approach to Robust Regulation of Distributed Port–Hamiltonian Systems}},
  volume={66},
  ISSN={2334-3303},
  DOI={10.1109/tac.2021.3069679},
  number={12},
  journal={IEEE Transactions on Automatic Control},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Paunonen, Lassi and Le Gorrec, Yann and Ramírez, Héctor},
  year={2021},
  pages={6041--6048}
}

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References

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