controller was proposed by choosing the Hamiltonian function to construct a solution of Hamiltonian–Jacobi inequality. Finally, the effectiveness of the proposed method was illustrated via the inverted pendulum systems.",
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"title": "Structure‐preserving interval‐limited balanced truncation reduced models for port‐Hamiltonian systems",
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"given": "Kangli",
"family": "Xu",
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"name": "School of Mathematics and Statistics, Xi'an Jiaotong University Xi'an 710049 People's Republic of China"
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"abstract": "In this study, the authors propose structure‐preserving balanced truncation methods of port‐Hamiltonian systems over the frequency and time intervals. First, the port‐Hamiltonian system is reduced based on the frequency‐interval controllability and observability Gramians. In order to reduce the computational cost, the frequency‐interval cross Gramian is utilised to yield the frequency‐interval balanced truncation method. For the symmetric port‐Hamiltonian systems, the authors prove that these two methods can generate equivalent reduced systems. Additionally, they are also devoted in exploring two structure‐preserving balanced truncation methods over time intervals, where one is based on the time interval controllability and observability Gramians and the other is based on the time interval cross Gramian. All the resulting reduced systems have port‐Hamiltonian structure, and as a consequence, they are passive. Two numerical examples are simulated to demonstrate the efficiency of the proposed methods.",
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"type": "journal-article",
"title": "Modified energy-balancing-based control for the tracking problem",
"authors": [
{
"given": "Z.",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada"
}
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{
"given": "P.",
"family": "Goldsmith",
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"affiliation": [
{
"name": "Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada"
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"abstract": "The authors extend energy-balancing-based control for set-point regulation to the problem of trajectory tracking for Euler-Lagrange (EL) systems. In addition to producing a new tracking control, this method also provides a re-interpretation of established results, such as computed torque control, PD+ control and Slotine-Li control. The authors also consider port-controlled Hamiltonian (PCH) systems, which are more general than EL systems. They develop a new matching equation for PCH systems so that interconnection damping assignment passivity-based control (IDA-PBC) can be applied to the control of a larger class of under-actuated PCH systems and the tracking control of some non-passive systems.",
"container_title": "IET Control Theory & Applications",
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"volume": "2",
"issue": "4",
"pages": "310--322",
"publisher": "Institution of Engineering and Technology (IET)",
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"created_date": "2008-04-25",
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"identifiers": {
"doi": "10.1049/iet-gtd.2017.0573"
},
"type": "journal-article",
"title": "IDA‐PB control with integral action of Y‐connected modular multilevel converter for fractional frequency transmission application",
"authors": [
{
"given": "Yongqing",
"family": "Meng",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "School of Electrical Engineering Xi'an Jiaotong University Xi'an Shaanxi People's Republic of China"
}
]
}
},
{
"given": "Shuonan",
"family": "Shang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "School of Electrical Engineering Xi'an Jiaotong University Xi'an Shaanxi People's Republic of China"
}
]
}
},
{
"given": "Haitao",
"family": "Zhang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "School of Electrical Engineering Xi'an Jiaotong University Xi'an Shaanxi People's Republic of China"
}
]
}
},
{
"given": "Yong",
"family": "Cui",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Shanghai Municipal Electric Power Company Electric Power Research Institute Shanghai People's Republic of China"
}
]
}
},
{
"given": "Xifan",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "School of Electrical Engineering Xi'an Jiaotong University Xi'an Shaanxi People's Republic of China"
}
]
}
}
],
"abstract": "Y‐connected modular multilevel converter (Y‐MMC) is a new topology of direct AC/AC power conversion, with broad application prospects in fractional‐frequency transmission system. This study studies the mathematical model of Y‐MMC and builds the port‐controlled Hamiltonian model. Since vector control scheme can hardly ensure global stability, the interconnection and damping assignment passivity‐based control (IDA‐PBC) method is applied for controller design of Y‐MMC. Three typical IDA‐PBC strategies are then proposed, featuring the asymptotical stability of the desired equilibrium. To eliminate steady‐state error, integrators are further added to the IDA‐PB controller. Different from the previous research, the proposed method enables the decoupling of different‐frequency components and the suppression of frequency leakage. Besides, the reactive power distribution coefficients are introduced to characterise the optimisation allocation of reactive power between arms. Finally, the effectiveness and superiority of the proposed control strategy are verified by both the simulation and experiment results.",
"container_title": "IET Generation, Transmission & Distribution",
"publication_year": "2018",
"volume": "12",
"issue": "14",
"pages": "3385--3397",
"publisher": "Institution of Engineering and Technology (IET)",
"event": "",
"keywords": [],
"created_date": "2017-08-23",
"permalink": "ida-pb-control-with-integral-action-of-y-connected-modular-multilevel-converter-for-fractional-frequency-transmission-application",
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"type": "journal-article",
"title": "Energy shaping controller design of three‐phase quasi‐Z‐source inverter for grid‐tie",
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"name": "School of Information Science and Engineering, Northeastern University Shenyang People's Republic of China"
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"abstract": "Although the control strategy regarding quasi‐Z‐source inverter (qZSI) has been widely studied, the dynamic response and steady‐state accuracy of the system with a non‐linear section should be further improved. Based on this, this study proposes an energy shaping control (ESC) method based on the port‐controlled Hamiltonian (PCH) model for qZSIs. Firstly, based on the average state‐space model, the PCH model of the qZSI system is first built, which is an indispensable preprocessing for the following controller design. Based on the proposed model, the ESC method combining the interconnect matrix with damping configuration is proposed to improve the dynamic response and steady‐state accuracy, which is verified through comparing with several existing linear and non‐linear control strategies in detail. Finally, simulation and experimental results verify the effectiveness of the proposed method.",
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"issue": "16",
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"doi": "10.1049/iet-pel.2020.0307"
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"type": "journal-article",
"title": "Port‐controlled Hamiltonian‐based controller for an interleaved boost PFC converter",
"authors": [
{
"given": "Kumari",
"family": "Shipra",
"literal": null,
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"sequence": "first",
"affiliation": [
{
"name": "Department of Electrical Engineering Sardar Vallabhbhai National Institute of Technology Surat 395007 India"
}
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{
"given": "Rakesh",
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"name": "Department of Electrical Engineering Sardar Vallabhbhai National Institute of Technology Surat 395007 India"
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{
"given": "Shambhu N.",
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"abstract": "This study reveals the energy shaping port‐controlled Hamiltonian passivity‐based control (PCH‐PBC) technique for an interleaved boost power factor correction (IBPFC) converter. First, the mathematical modelling of an IBPFC converter is developed under all possible operating modes. Then, the average state‐space model of the system is established with the help of averaging state‐space technique. Further, the PCH technique is applied for controller design and the stability analysis of the proposed system is carried out. A proportional‐integral (PI) controller is integrated with the PCH‐PBC controller to achieve minimum steady‐state errors. Finally, a Simulink model of the proposed system is developed using the Simulink toolbox of MATLAB software and its performances are studied under several operating conditions and verified through experimentation. To assess the system performance in terms of efficiency and input current total harmonic distortion (THD), the comparative study is also carried out under different controllers. Based on the simulation outcomes, the proposed controller is compared with the benchmark PI controller, adaptive passivity‐based controller in terms of different control parameters. The performances of the controller are also investigated against dynamic variations at the input voltage and the load. It is observed that the proposed PCH‐PBC controller achieves robustness against the aforesaid variations.",
"container_title": "IET Power Electronics",
"publication_year": "2020",
"volume": "13",
"issue": "16",
"pages": "3627--3636",
"publisher": "Institution of Engineering and Technology (IET)",
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"created_date": "2020-09-30",
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"title": "Hamiltonian modelling and nonlinear disturbance attenuation control of TCSC for improving power system stability",
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{
"given": "Y.Z.",
"family": "Sun",
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"name": "Tsinghua University, Beijing 100084, China"
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"given": "Q.J.",
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"name": "Tsinghua University, Beijing 100084, China"
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"given": "Y.H.",
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"name": "Brunel University, London, UK"
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"name": "Sophia University, Tokyo, Japan"
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"abstract": "To tackle the obstacle of applying passivity-based control (PBC) into power systems, an affine non-linear system widely existing in power systems is formulated as a standard Hamiltonian system using a pre-feedback method. The port controlled Hamiltonian with dissipation (PCHD) model of TCSC is then established corresponding with a revised Hamiltonian function. Furthermore, employing the modified Hamiltonian function directly as the storage function, a non-linear adaptive L2 gain control method is proposed to solve the problem of L2 gain disturbance attenuation for this Hamiltonian system with parametric perturbations. Finally, simulation results are presented to verify the validity of the proposed controller.",
"container_title": "IEE Proceedings - Control Theory and Applications",
"publication_year": "2002",
"volume": "149",
"issue": "4",
"pages": "278--284",
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"type": "book-chapter",
"title": "Stability analysis for a class of Hamiltonian systems with digital control",
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"abstract": "On contrast to the successful achievement of nonlinear control theory with continuous-time feedback as in, e.g., [1], [5], there are less studies on the digital control of nonlinear systems with notable exceptions, e.g., [2], [4]. In particular there are few results on quantitative aspects of the subject. This article considers a digital implementation problem of the passivity based control for port-controlled Hamiltonian systems. A sufficient condition for asymptotic stability is given in terms of the Hamilton-Jacobi-Isaac inequality. A more tractable sufficient condition is also shown with a reward of conservatism. The effectiveness of the proposed methods is demonstrated by numerical examples.",
"container_title": "Developments in Control Theory Towards Glocal Control",
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"title": "Port-Hamiltonian control of fully actuated underwater vehicles",
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"given": "Tristan",
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"abstract": "This chapter presents a novel control strategy for trajectory tracking of underwater marine vehicles that are designed using port-Hamiltonian theory. A model for neutrally buoyant underwater vehicles is formulated as a PHS, and then the tracking controller is designed for the horizontal plane-surge, sway and yaw. The control design is done by formulating the error dynamics as a set-point regulation port-Hamiltonian control problem. The control design is formulated in two steps. In the first step, a static-feedback tracking controller is designed, and the second step integral action is added. The global asymptotic stability of the closed loop system is proved and the performance of the controller is illustrated using a model of an open-frame offshore underwater vehicle.",
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"pages": "129--147",
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"title": "Power oscillation suppression strategy of VSG based on finite‐time Hamiltonian method",
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"abstract": "In order to improve the stability of the virtual synchronous generator (VSG) system and suppress the power oscillation, a power oscillation suppression strategy of VSG based on the finite‐time Hamiltonian method is proposed in this paper. Firstly, based on the traditional VSG control, the port‐controlled Hamiltonian with dissipation model for the active power closed‐loop circuit of the VSG grid‐connected inverter is established by considering additional control inputs. Secondly, a Hamiltonian finite‐time controller design method based on interconnection and damping assignment passivity‐based control is proposed to achieve finite‐time stability of the system. The Hamiltonian function is designed as a fractional power form by energy shaping, and the convergence speed of the system is accelerated by damping injection so that the system can quickly stabilize at the expected balance point. Then, the designed Hamiltonian function is taken as the Lyapunov function to analyse the system stability and calculate the convergence time of the VSG system. Finally, the simulation and hardware in the loop verification results show the effectiveness and great potential of this proposed controller in shortening the power oscillation time.",
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"issue": "1",
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"publisher": "Institution of Engineering and Technology (IET)",
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"identifiers": {
"doi": "10.1049/iet-pel.2019.0099"
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{
"identifiers": {
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{
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},
{
"identifiers": {
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{
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},
{
"identifiers": {
"doi": "10.1109/tec.2016.2623982"
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{
"identifiers": {},
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{
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"citation": "Yang, M., Wang, Y., Xiao, X. & Li, Y. A Robust Damping Control for Virtual Synchronous Generators Based on Energy Reshaping. IEEE Trans. Energy Convers. 38, 2146–2159 (2023)"
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{
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},
{
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{
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{
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{
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{
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{
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{
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}
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"identifiers": {
"doi": "10.1049/rpg2.70148"
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"type": "journal-article",
"title": "Optimized Passivity‐Based Control for Grid‐Forming Converter with Control Delays",
"authors": [
{
"given": "Ming",
"family": "Li",
"literal": null,
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"affiliation": [
{
"name": "Department of Electrical and Automation Engineering Hefei University of Technology Anhui China"
}
]
}
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"given": "Yongtao",
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"name": "Department of Electrical and Automation Engineering Hefei University of Technology Anhui China"
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"given": "Hua",
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"affiliation": [
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"name": "Department of Automation Tsinghua University Beijing China"
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},
{
"given": "Enjun",
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"name": "Department of Electrical and Automation Engineering Hefei University of Technology Anhui China"
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{
"given": "Xing",
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"literal": null,
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"name": "Department of Electrical and Automation Engineering Hefei University of Technology Anhui China"
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{
"given": "Xing",
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"name": "Department of Electrical and Automation Engineering Hefei University of Technology Anhui China"
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"given": "Pinjia",
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"name": "Department of Automation Tsinghua University Beijing China"
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"abstract": "With the rapid integration of renewable energy sources, particularly wind and solar power, grid‐connected converters have become essential interfaces between renewable energy systems and the power grid. Among the various control strategies, grid‐following (GFL) and grid‐forming (GFM) controls are commonly used, with GFM converter playing a crucial role in enhancing grid stability. However, traditional GFM converter often rely on linear control methods, which struggle with nonlinear grid dynamics and transient faults. To address these challenges, passivity‐based control (PBC) has emerged as a promising solution for improving system stability. This paper proposes a novel passivity‐based control strategy for GFM converter, incorporating the impact of the control delays. Using the port‐controlled Hamiltonian (PCH) model, we design a feedback controller based on interconnection and damping assignment passivity‐based control (IDA‐PBC), ensuring system stability. Additionally, a frequency‐domain D‐partition method is introduced to derive the stability region and boundary of the controller under time delays, providing clear tuning criteria. The proposed strategy offers an improved approach for large‐scale renewable energy integration, enhancing converter stability and performance. The results contribute to advancing passivity‐based control theory and its practical application in renewable energy systems.",
"container_title": "IET Renewable Power Generation",
"publication_year": "2025",
"volume": "19",
"issue": "1",
"pages": "",
"publisher": "Institution of Engineering and Technology (IET)",
"event": "",
"keywords": [],
"created_date": "2025-10-22",
"permalink": "optimized-passivity-based-control-for-grid-forming-converter-with-control-delays",
"references": [
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1049/rpg2.12871"
},
"citation": "Dehghani, F. & Shafiyi, M. A. Integration of hybrid renewable energy sources with the power system considering their economic complementarity. IET Renewable Power Gen 17, 3638–3650 (2023)"
},
{
"identifiers": {
"doi": "10.1002/eej.23393"
},
"citation": "Shirasaki, K. & Amano, H. Mechanism of control instability of control function installed to grid‐following inverter and development of damping controller for stable operation. Electrical Engineering Japan 215, (2022)"
},
{
"identifiers": {
"doi": "10.1049/rpg2.12398"
},
"citation": "Azizi Aghdam, S. & Agamy, M. Virtual oscillator‐based methods for grid‐forming inverter control: A review. IET Renewable Power Gen 16, 835–855 (2022)"
},
{
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},
"citation": "Patel, N., Kumar, A., Gupta, N., Ray, S. & Babu, B. C. Optimised PI‐4VPI current controller for three‐phase grid‐integrated photovoltaic inverter under grid voltage distortions. IET Renewable Power Gen 14, 779–792 (2020)"
},
{
"identifiers": {
"doi": "10.1049/rpg2.13186"
},
"citation": "Shahgholian, G., Moradian, M. & Fathollahi, A. Droop control strategy in inverter‐based microgrids: A brief review on analysis and application in islanded mode of operation. IET Renewable Power Gen 19, (2025)"
},
{
"identifiers": {
"doi": "10.1109/jestpe.2024.3410313"
},
"citation": "Wang, J., Zhang, X. & Li, M. Transient Stability Analysis and Improvement of Multiparalleled Virtual Synchronous Generators Grid-Connected System. IEEE J. Emerg. Sel. Topics Power Electron. 12, 4094–4105 (2024)"
},
{
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"citation": "Rezazadeh, H., Monfared, M., Fazeli, M. & Golestan, S. Enhancing Damping in Single-Phase Grid-Forming Virtual Oscillator Control Inverters: A Feedforward Strategy. IEEE Open J. Ind. Electron. Soc. 6, 1101–1115 (2025)"
},
{
"identifiers": {
"doi": "10.1049/rpg2.13128"
},
"citation": "Manoharan, H., Karuppannan, S., Chandrasekaran, K. & Barua, S. Power quality improvement of grid‐connected solar power plant systems using a novel fractional order proportional integral derivative controller technique. IET Renewable Power Gen 18, 3268–3284 (2024)"
},
{
"identifiers": {
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"citation": "Wang, F., Xu, J. & Li, G. A Variable Virtual Impedance Current Limitation Strategy of Grid-Forming Energy Storage-STATCOM. IEEE Trans. Power Delivery 39, 3450–3461 (2024)"
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{
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"citation": "Sun, Y. et al. Scenario construction and vulnerability assessment of natural hazards-triggered power grid accidents. Journal of Safety Science and Resilience 5, 498–511 (2024)"
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{
"identifiers": {
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},
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{
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},
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{
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{
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"doi": "10.4218/etrij.2017-0319"
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"citation": "Tian, L., Li, Q. & Wang, W. Research of the adaptive control on modulation factor fo PSRPSMN∈ ℕ on a bounded 1-dimensional spatial domain (a,b). In order to achieve stabilization, we couple the system to a dynamic boundary controller, that is, a controller that acts on the system only via the boundary pointsa,bof the spatial domain. We use a nonlinear controller in order to capture the nonlinear behavior that realistic actuators often exhibit and, moreover, we allow the output of the controller to be corrupted by actuator disturbances before it is fed back into the system. What we show here is that the resulting nonlinear closed-loop system is input-to-state stable w.r.t. square-integrable disturbance inputs. In particular, we obtain uniform input-to-state stability for systems of orderN= 1 and a special class of nonlinear controllers, and weak input-to-state stability for systems of arbitrary orderN∈ ℕ and a more general class of nonlinear controllers. Also, in both cases, we obtain convergence to 0 of all solutions ast→∞. Applications are given to vibrating strings and beams.",
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"title": "Linear-quadratic optimal control for infinite-dimensional input-state-output systems",
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{
"given": "Timo",
"family": "Reis",
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"given": "Manuel",
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"abstract": "We examine the minimization of a quadratic cost functional composed of the output and the terminal state of infinite-dimensional evolution equations in view of existence of solutions and optimality conditions. While the initial value is prescribed, we are minimizing over all inputs within a specified convex subset of square integrable controls with values in a Hilbert space. The considered class of infinite-dimensional systems is based on the system node formulation. Thus, our developed approach includes optimal control of a wide variety of linear partial differential equations with boundary control and observation that are not well-posed in the sense that the output continuously depends on the input and the initial value. We provide an application of particular optimal control problems arising in energy-optimal control of port-Hamiltonian systems. Last, we illustrate the our theory by two examples including a non-well-posed heat equation with Dirichlet boundary control and a wave equation on an L-shaped domain with boundary control of the stress in normal direction.",
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"abstract": "We study the question of bounded-input bounded-output (BIBO) stability of a class of 1-D hyperbolic boundary control systems, which, in particular, contains distributed port-Hamiltonian systems. Exploiting the particular structure of the transfer function of these systems, we derive several sufficient conditions for BIBO stability that rely on tests for the systems defining matrix parameters.",
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"abstract": "A big-isotropic structure E is an isotropic subbundle of TM⊕T*M, endowed with the metric defined by pairing. The structure E is said to be integrable if the Courant bracket [X,Y]∊ΓE, ∀X,Y∊ΓE. Then, necessarily, one also has [X,Z]∊ΓE⊥, ∀Z∊ΓE⊥ [Vaisman, I., “Isotropic subbundles of TM⊕T*M,” Int. J. Geom. Methods Mod. Phys. 4, 487–516 (2007)]. A weak-Hamiltonian dynamical system is a vector field XH such that (XH,dH)∊ΓE⊥(H∊C∞(M)). We obtain the explicit expression of XH and of the integrability conditions of E under the regularity condition dim(prT*ME)=const. We show that the port-controlled, Hamiltonian systems (in particular, constrained mechanics) [Dalsmo, M. and van der Schaft, A. J., “On representations and integrability of mathematical structures in energy conserving physical systems,” SIAM J. Control Optim. 37, 54–91 (1998)] may be interpreted as weak-Hamiltonian systems. Finally, we give reduction theorems for weak-Hamiltonian systems and a corresponding corollary for constrained mechanical systems.",
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"citation": "Blankenstein, G. & van der Schaft, A. J. Symmetry and reduction in implicit generalized Hamiltonian systems. Reports on Mathematical Physics 47, 57–100 (2001)"
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{
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{
"identifiers": {
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"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
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{
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{
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{
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"citation": "VAISMAN, I. ISOTROPIC SUBBUNDLES OF TM ⊕ T*M. Int. J. Geom. Methods Mod. Phys. 04, 487–516 (2007)"
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{
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"doi": "10.1063/1.5024847"
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"title": "On the extraction of the boundary conditions and the boundary ports in second-order field theories",
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"given": "Markus",
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"name": "Institute of Automatic Control and Control Systems Technology, Johannes Kepler University , Altenbergerstr. 69, 4040 Linz, Austria"
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"abstract": "In this paper, we consider second-order field theories in a variational setting. From the variational principle, the Euler-Lagrange equations follow in an unambiguous way, but it is well known that this is not true for the Cartan form. This also has consequences on the derivation of the boundary conditions when non-trivial variations are allowed on the boundary. By posing extra conditions on the set of possible boundary terms, we exploit the degree of freedom in the Cartan form to extract physical meaningful boundary expressions. The same mathematical machinery will be applied to derive the boundary ports in a Hamiltonian representation of the partial differential equations which is crucial for energy based control approaches. Our results will be visualized for mechanical systems such as beam and plate models.",
"container_title": "Journal of Mathematical Physics",
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"publisher": "AIP Publishing",
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{
"identifiers": {
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{
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{
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{
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{
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{
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},
{
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},
{
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{
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},
{
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"citation": "Schöberl, M. & Schlacher, K. Lagrangian and Port-Hamiltonian formulation for Distributed-parameter systems. IFAC-PapersOnLine 48, 610–615 (2015)"
},
{
"identifiers": {
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},
"citation": "Schöberl, M. & Schlacher, K. Port-Hamiltonian formulation for Higher-order PDEs. IFAC-PapersOnLine 48, 244–249 (2015)"
},
{
"identifiers": {},
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{
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{
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},
{
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},
{
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},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
"identifiers": {},
"citation": "Compositional Modelling of Distributed-Parameter Systems (2005)"
},
{
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"citation": "(2004)"
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{
"identifiers": {},
"citation": "(2005)"
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{
"identifiers": {
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"citation": "Schlacher, K. Mathematical modeling for nonlinear control: a Hamiltonian approach. Mathematics and Computers in Simulation 79, 829–849 (2008)"
},
{
"identifiers": {
"doi": "10.1109/tac.2012.2235739"
},
"citation": "Schoberl, M. & Siuka, A. On Casimir Functionals for Infinite-Dimensional Port-Hamiltonian Control Systems. IEEE Trans. Automat. Contr. 58, 1823–1828 (2013)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2013.11.035"
},
"citation": "Schöberl, M. & Siuka, A. Jet bundle formulation of infinite-dimensional port-Hamiltonian systems using differential operators. Automatica 50, 607–613 (2014)"
},
{
"identifiers": {
"doi": "10.1080/13873954.2010.537526"
},
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},
{
"identifiers": {},
"citation": "Principles and Techniques of Vibrations (1997)"
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"doi": "10.1063/1.5033775"
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"type": "proceedings-article",
"title": "Regenerative braking system of PM synchronous motor",
"authors": [
{
"given": "Qian",
"family": "Gao",
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{
"given": "Chengxing",
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"given": "Na",
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{
"given": "Hechao",
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{
"given": "Huilue",
"family": "Jiang",
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{
"given": "Zhaowen",
"family": "Zhang",
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{
"given": "Fengli",
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"abstract": "Permanent-magnet synchronous motor is widely adopted in many fields with the advantage of a high efficiency and a high torque density. Regenerative Braking Systems (RBS) provide an efficient method to assist PMSM system achieve better fuel economy and lowering exhaust emissions. This paper describes the design and testing of the regenerative braking systems of PMSM. The mode of PWM duty has been adjusted to control regenerative braking of PMSM using energy controller for the port-controlled Hamiltonian model. The simulation analysis indicates that a smooth control could be realized and the highest efficiency and the smallest current ripple could be achieved by Regenerative Braking Systems.",
"container_title": "AIP Conference Proceedings",
"publication_year": "2018",
"volume": "1955",
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"pages": "040111",
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{
"identifiers": {
"doi": "10.1109/tie.2006.870875"
},
"citation": "Ichikawa, S., Tomita, M., Doki, S. & Okuma, S. Sensorless control of permanent-magnet synchronous motors using online parameter identification based on system identification theory. IEEE Trans. Ind. Electron. 53, 363–372 (2006)"
},
{
"identifiers": {
"doi": "10.1109/tie.2008.918403"
},
"citation": "Chau, K. T., Chan, C. C. & Chunhua Liu. Overview of Permanent-Magnet Brushless Drives for Electric and Hybrid Electric Vehicles. IEEE Trans. Ind. Electron. 55, 2246–2257 (2008)"
},
{
"identifiers": {
"doi": "10.1177/0954407014521173"
},
"citation": "Lu, D., Ouyang, M., Gu, J. & Li, J. Instantaneous optimal regenerative braking control for a permanent-magnet synchronous motor in a four-wheel-drive electric vehicle. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 228, 894–908 (2014)"
},
{
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"doi": "10.3182/20130904-3-fr-2041.00088"
},
"citation": "Aoues, S., Eberard, D. & Marquis-Favre, W. Discrete IDA-PBC design for 2D port-Hamiltonian systems. IFAC Proceedings Volumes 46, 134–139 (2013)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {
"doi": "10.1049/ic:20070036"
},
"citation": "Akrad, A., Hilairet, M., Ortega, R. & Diallo, D. Interconnection and damping assignment approach for reliable PM synchronous motor control. IET Colloquium on Reliability of Electromagnetic Systems vol. 2007 15–15 (2007)"
},
{
"identifiers": {
"doi": "10.1109/peds.2011.6147317"
},
"citation": "Chen, C.-H., Wen-Chun Chi & Cheng, M.-Y. Regenerative braking control for light electric vehicles. 2011 IEEE Ninth International Conference on Power Electronics and Drive Systems 631–636 (2011) doi:10.1109/peds.2011.6147317"
},
{
"identifiers": {
"doi": "10.3901/cjme.2013.01.001"
},
"citation": "Gu, J. et al. Driving and braking control of PM synchronous motor based on low-resolution hall sensor for battery electric vehicle. Chin. J. Mech. Eng. 26, 1–10 (2013)"
},
{
"identifiers": {
"doi": "10.3144/expresspolymlett.2012.46"
},
"citation": "Tjong, S. C. Graphene and its derivatives: Novel materials for forming functional polymer nanocomposites. Express Polym. Lett. 6, 437–437 (2012)"
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{
"identifiers": {
"doi": "10.1016/j.jpowsour.2013.10.114"
},
"citation": "Guo, Z., Qiu, X., Hou, G., Liaw, B. Y. & Zhang, C. State of health estimation for lithium ion batteries based on charging curves. Journal of Power Sources 249, 457–462 (2014)"
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"doi": "10.1063/1.5054850"
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"title": "Qualitative stability and synchronicity analysis of power network models in port-Hamiltonian form",
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"name": "Institut für Mathematik MA 4-5, TU Berlin 1 , Str. des 17. Juni 136, D-10623 Berlin, Germany"
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}
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{
"given": "Riccardo",
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"name": "Institut für Mathematik MA 4-5, TU Berlin 1 , Str. des 17. Juni 136, D-10623 Berlin, Germany"
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"given": "Simona",
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"name": "Institut für Theoretische Physik, Sekr. EW 7-1, TU Berlin 2 , Hardenbergstr. 36, D-10623 Berlin, Germany"
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{
"name": "INRIA Sophia Antipolis Méditerranée 3 , 2004 Route des Lucioles, 06902 Valbonne, France"
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{
"name": "CNR—Consiglio Nazionale delle Ricerche—Istituto dei Sistemi Complessi 4 , 50019 Sesto Fiorentino, Italy"
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{
"given": "Eckehard",
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"abstract": "In view of highly decentralized and diversified power generation concepts, in particular with renewable energies, the analysis and control of the stability and the synchronization of power networks is an important topic that requires different levels of modeling detail for different tasks. A frequently used qualitative approach relies on simplified nonlinear network models like the Kuramoto model with inertia. The usual formulation in the form of a system of coupled ordinary differential equations is not always adequate. We present a new energy-based formulation of the Kuramoto model with inertia as a polynomial port-Hamiltonian system of differential-algebraic equations, with a quadratic Hamiltonian function including a generalized order parameter. This leads to a robust representation of the system with respect to disturbances: it encodes the underlying physics, such as the dissipation inequality or the deviation from synchronicity, directly in the structure of the equations, and it explicitly displays all possible constraints and allows for robust simulation methods. The model is immersed into a system of model hierarchies that will be helpful for applying adaptive simulations in future works. We illustrate the advantages of the modified modeling approach with analytics and numerical results.",
"container_title": "Chaos: An Interdisciplinary Journal of Nonlinear Science",
"publication_year": "2018",
"volume": "28",
"issue": "10",
"pages": "",
"publisher": "AIP Publishing",
"event": "",
"keywords": [],
"created_date": "2018-10-18",
"permalink": "qualitative-stability-and-synchronicity-analysis-of-power-network-models-in-port-hamiltonian-form",
"references": [
{
"identifiers": {
"doi": "10.1140/epjb/e2008-00098-8"
},
"citation": "Filatrella, G., Nielsen, A. H. & Pedersen, N. F. Analysis of a power grid using a Kuramoto-like model. The European Physical Journal B vol. 61 485–491 (2008)"
},
{
"identifiers": {},
"citation": "Power System Stability and Control (1994)"
},
{
"identifiers": {
"doi": "10.1103/physreve.90.042905"
},
"citation": "Olmi, S., Navas, A., Boccaletti, S. & Torcini, A. Hysteretic transitions in the Kuramoto model with inertia. Physical Review E vol. 90 (2014)"
},
{
"identifiers": {
"doi": "10.1109/tcs.1984.1085570"
},
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},
{
"identifiers": {
"doi": "10.1088/1367-2630/17/1/015012"
},
"citation": "Nishikawa, T. & Motter, A. E. Comparative analysis of existing models for power-grid synchronization. New Journal of Physics vol. 17 015012 (2015)"
},
{
"identifiers": {
"doi": "10.1103/physrevlett.109.064101"
},
"citation": "Rohden, M., Sorge, A., Timme, M. & Witthaut, D. Self-Organized Synchronization in Decentralized Power Grids. Physical Review Letters vol. 109 (2012)"
},
{
"identifiers": {
"doi": "10.1073/pnas.1212134110"
},
"citation": "Dörfler, F., Chertkov, M. & Bullo, F. Synchronization in complex oscillator networks and smart grids. Proceedings of the National Academy of Sciences vol. 110 2005–2010 (2013)"
},
{
"identifiers": {
"doi": "10.1109/tac.2017.2747763"
},
"citation": "Monshizadeh, N., De Persis, C., van der Schaft, A. J. & Scherpen, J. M. A. A Novel Reduced Model for Electrical Networks With Constant Power Loads. IEEE Transactions on Automatic Control vol. 63 1288–1299 (2018)"
},
{
"identifiers": {
"doi": "10.1016/j.arcontrol.2016.04.017"
},
"citation": "van der Schaft, A. & Stegink, T. Perspectives in modeling for control of power networks. Annual Reviews in Control vol. 41 119–132 (2016)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Systems vol. 21 18–33 (2001)"
},
{
"identifiers": {},
"citation": "Advanced Dynamics and Control of Structures and Machines (2004)"
},
{
"identifiers": {},
"citation": "Modeling and Simulation of Dynamic Systems Using Bond Graphs (2008)"
},
{
"identifiers": {
"doi": "10.1007/978-3-642-34928-7_5"
},
"citation": "van der Schaft, A. J. Port-Hamiltonian Differential-Algebraic Systems. Surveys in Differential-Algebraic Equations I 173–226 (2013) doi:10.1007/978-3-642-34928-7_5"
},
{
"identifiers": {
"doi": "10.1109/9.100932"
},
"citation": "Byrnes, C. I., Isidori, A. & Willems, J. C. Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems. IEEE Transactions on Automatic Control vol. 36 1228–1240 (1991)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2006.08.014"
},
"citation": "Cervera, J., van der Schaft, A. J. & Baños, A. Interconnection of port-Hamiltonian systems and composition of Dirac structures. Automatica vol. 43 212–225 (2007)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2012.05.052"
},
"citation": "Gugercin, S., Polyuga, R. V., Beattie, C. & van der Schaft, A. Structure-preserving tangential interpolation for model reduction of port-Hamiltonian systems. Automatica vol. 48 1963–1974 (2012)"
},
{
"identifiers": {
"doi": "10.1016/j.ejcon.2013.09.002"
},
"citation": "Fiaz, S., Zonetti, D., Ortega, R., Scherpen, J. M. A. & van der Schaft, A. J. A port-Hamiltonian approach to power network modeling and analysis. European Journal of Control vol. 19 477–485 (2013)"
},
{
"identifiers": {
"doi": "10.1063/1.4995963"
},
"citation": "Schröder, M., Timme, M. & Witthaut, D. A universal order parameter for synchrony in networks of limit cycle oscillators. Chaos: An Interdisciplinary Journal of Nonlinear Science vol. 27 (2017)"
},
{
"identifiers": {},
"citation": "Line Integral Methods for Conservative Problems (2015)"
},
{
"identifiers": {},
"citation": "Differential-Algebraic Equations: Analysis and Numerical Solution (2006)"
},
{
"identifiers": {
"doi": "10.1142/s0217979212460113"
},
"citation": "FORTUNA, L., FRASCA, M. & SARRA FIORE, A. A NETWORK OF OSCILLATORS EMULATING THE ITALIAN HIGH-VOLTAGE POWER GRID. International Journal of Modern Physics B vol. 26 1246011 (2012)"
}
]
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{
"id": "e480d135-bb67-5b25-8aa5-99f1a37809d0",
"identifiers": {
"doi": "10.1063/5.0048359"
},
"type": "journal-article",
"title": "Geometric and energy-aware decomposition of the Navier–Stokes equations: A port-Hamiltonian approach",
"authors": [
{
"given": "Federico",
"family": "Califano",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0001-8693-0900",
"authenticated-orcid": false,
"sequence": "first",
"affiliation": [
{
"name": "Robotics and Mechatronics Department, University of Twente 1 , 7522 NH Enschede, The Netherlands"
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}
},
{
"given": "Ramy",
"family": "Rashad",
"literal": null,
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"sequence": "additional",
"affiliation": [
{
"name": "Robotics and Mechatronics Department, University of Twente 1 , 7522 NH Enschede, The Netherlands"
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{
"given": "Frederic P.",
"family": "Schuller",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Department of Applied Mathematics, University of Twente 2 , 7522 NH Enschede, The Netherlands"
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}
},
{
"given": "Stefano",
"family": "Stramigioli",
"literal": null,
"source_fields": {
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"name": "Robotics and Mechatronics Department, University of Twente 1 , 7522 NH Enschede, The Netherlands"
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"abstract": "A port-Hamiltonian model for compressible Newtonian fluid dynamics is presented in entirely coordinate-independent geometric fashion. This is achieved by the use of tensor-valued differential forms that allow us to describe the interconnection of the power preserving structure which underlies the motion of perfect fluids to a dissipative port which encodes Newtonian constitutive relations of shear and bulk stresses. The relevant diffusion and the boundary terms characterizing the Navier–Stokes equations on a general Riemannian manifold arise naturally from the proposed construction.",
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"name": "Robotics and Mechatronics Department, University of Twente , 7522 NH Enschede, The Netherlands"
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"abstract": "A description of thermodynamics for continuum mechanical systems is presented in the coordinate-free language of exterior calculus. First, a careful description of the mathematical tools that are needed to formulate the relevant conservation laws is given. Second, following an axiomatic approach, the two thermodynamic principles will be described, leading to a consistent description of entropy creation mechanisms on manifolds. Third, a specialization to Fourier–Navier–Stokes fluids will be carried through.",
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{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1007/s11012-015-0284-z"
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},
{
"identifiers": {},
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{
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},
{
"identifiers": {
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},
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/j.geomphys.2021.104201"
},
"citation": "Rashad, R., Califano, F., Schuller, F. P. & Stramigioli, S. Port-Hamiltonian modeling of ideal fluid flow: Part I. Foundations and kinetic energy. Journal of Geometry and Physics 164, 104201 (2021)"
},
{
"identifiers": {
"doi": "10.1016/j.geomphys.2021.104199"
},
"citation": "Rashad, R., Califano, F., Schuller, F. P. & Stramigioli, S. Port-Hamiltonian modeling of ideal fluid flow: Part II. Compressible and incompressible flow. Journal of Geometry and Physics 164, 104199 (2021)"
},
{
"identifiers": {
"doi": "10.1063/5.0067784"
},
"citation": "Mora, L. A., Le Gorrec, Y., Matignon, D., Ramirez, H. & Yuz, J. I. On port-Hamiltonian formulations of 3-dimensional compressible Newtonian fluids. Physics of Fluids 33, (2021)"
},
{
"identifiers": {
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},
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{
"identifiers": {
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},
{
"identifiers": {
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},
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{
"identifiers": {
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{
"identifiers": {
"doi": "10.1007/s10208-020-09473-w"
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"citation": "Gawlik, E. S. & Gay-Balmaz, F. A Variational Finite Element Discretization of Compressible Flow. Found Comput Math 21, 961–1001 (2020)"
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"doi": "10.1016/j.geomphys.2022.104477"
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"citation": "Califano, F., Rashad, R., Schuller, F. P. & Stramigioli, S. Energetic decomposition of distributed systems with moving material domains: The port-Hamiltonian model of fluid-structure interaction. Journal of Geometry and Physics 175, 104477 (2022)"
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{
"identifiers": {
"doi": "10.1146/annurev.fl.24.010192.001045"
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"citation": "Arnold, V. I. & Khesin, B. A. Topological Methods in Hydrodynamics. Annu. Rev. Fluid Mech. 24, 145–166 (1992)"
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"citation": "Geometrical Methods of Mathematical Physics (1980)"
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{
"identifiers": {
"doi": "10.1063/5.0048359"
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"citation": "Califano, F., Rashad, R., Schuller, F. P. & Stramigioli, S. Geometric and energy-aware decomposition of the Navier–Stokes equations: A port-Hamiltonian approach. Physics of Fluids 33, (2021)"
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"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
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"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
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"abstract": "We construct so-called Darboux transformations and solutions of the dynamical Hamiltonian systems with several space variables $ \\frac {\\partial \\psi }{\\partial t}=\\sum _{k=1}^r H_k(t)\\frac {\\partial \\psi }{\\partial \\zeta _k} $ ∂ψ∂t=∑k=1rHk(t)∂ψ∂ζk $ ( H_k(t)= H_k(t)^*) $ (Hk(t)=Hk(t)∗). In particular, such systems are analogs of the port-Hamiltonian systems in the important and insufficiently studied case of several space variables. The corresponding energy relations are written down. The method is illustrated by several examples, where explicit solutions are given.",
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"doi": "10.1215/s0012-7094-01-10931-9"
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"citation": "Mennicken R, Sakhnovich AL, Tretter C (2001) Direct and inverse spectral problem for a system of differential equations depending rationally on the spectral parameter. Duke Math J 109(3). https://doi.org/10.1215/s0012-7094-01-10931-"
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"doi": "10.1007/s00020-010-1843-2"
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"citation": "Sakhnovich A (2010) Construction of the Solution of the Inverse Spectral Problem for a System Depending Rationally on the Spectral Parameter, Borg–Marchenko-Type Theorem and Sine-Gordon Equation. Integr Equ Oper Theory 69(4):567–600. https://doi.org/10.1007/s00020-010-1843-"
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{
"identifiers": {
"doi": "10.3934/dcds.2022170"
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"citation": "Sakhnovich A (2023) Dressing for generalised linear Hamiltonian systems depending rationally on the spectral parameter and some applications. DCDS 43(2):807–820. https://doi.org/10.3934/dcds.202217"
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{
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"citation": "Gohberg I, Theory and applications of Volterra operators in Hilbert space (1970)"
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{
"identifiers": {
"doi": "10.3934/dcds.2017069"
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"citation": "Sakhnovich A (2017) Dynamical canonical systems and their explicit solutions. DCDS 37(3):1679–1689. https://doi.org/10.3934/dcds.201706"
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"doi": "10.1515/9783110258615"
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"citation": "Sakhnovich AL, Sakhnovich LA, Roitberg IYa (2013) Inverse Problems and Nonlinear Evolution Equation"
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"doi": "10.1007/978-3-0348-8713-7"
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"citation": "Sakhnovich LA (1999) Spectral Theory of Canonical Differential Systems. Method of Operator Identities. Birkhäuser Base"
},
{
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{
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{
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"citation": "Sakhnovich AL (1994) Dressing procedure for solutions of non-linear equations and the method of operator identities. Inverse Problems 10(3):699–710. https://doi.org/10.1088/0266-5611/10/3/01"
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"citation": "(2016). Mathematische Nachrichten 28"
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"doi": "10.1016/j.jfa.2004.10.022"
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"citation": "Kaashoek MA, Sakhnovich AL (2005) Discrete skew self-adjoint canonical system and the isotropic Heisenberg magnet model. Journal of Functional Analysis 228(1):207–233. https://doi.org/10.1016/j.jfa.2004.10.02"
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{
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{
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},
"citation": "(2022). Mathematische Nachrichten 29"
}
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"doi": "10.1080/0020717031000079373"
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"type": "journal-article",
"title": "Energy-based approach to the output feedback control of wind energy systems",
"authors": [
{
"given": "H.",
"family": "De Battista",
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"sequence": "first",
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}
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{
"given": "R. J.",
"family": "Mantz",
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"given": "C. F.",
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"abstract": "Wind energy systems can be classified into constant speed and variable speed ones. In constant speed schemes, the generator is directly connected to the electric grid. On the other hand, variable speed operation can be accomplished interposing a static converter in the energy flow between the generator and the grid, permitting a high control flexibility. The main control objectives are the maximization of the conversion efficiency and the elimination of torque oscillations propagated through the drive train. It is assumed in this paper that the most flexible part of the system lies on the turbine, constraining the control solutions to generator speed feedback. The control task is addressed from a passivity-based control viewpoint. The drive train dynamics is modelled as a port-controlled Hamiltonian system with dissipation. Then, stabilization of the desired operating point is achieved through energy shaping and damping injection. Depending on the damping matrix assignment, different control solutions are recovered. Finally, a dynamic feedback controller which preserves the system structure is proposed to improve the system performance without measuring the wind velocity.",
"container_title": "International Journal of Control",
"publication_year": "2003",
"volume": "76",
"issue": "3",
"pages": "299--308",
"publisher": "Informa UK Limited",
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"keywords": [],
"created_date": "2003-11-10",
"permalink": "energy-based-approach-to-the-output-feedback-control-of-wind-energy-systems",
"references": [
{
"identifiers": {
"doi": "10.1109/59.867166"
},
"citation": "De Battista, H., Puleston, P. F., Mantz, R. J. & Christiansen, C. F. Sliding mode control of wind energy systems with DOIG-power efficiency and torsional dynamics optimization. IEEE Trans. Power Syst. 15, 728–734 (2000)"
},
{
"identifiers": {
"doi": "10.1109/60.537036"
},
"citation": "Demoulias, C. S. & Dokopoulos, P. Electrical transients of wind turbines in a small power grid. IEEE Trans. On energy Conversion 11, 636–642 (1996)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {},
"citation": "GARRAD A. D., Wind Energy Conversion Systems (1990)"
},
{
"identifiers": {},
"citation": "GIPE P., Wind Energy Comes of Age (1995)"
},
{
"identifiers": {
"doi": "10.1080/002071700417849"
},
"citation": "Leithead, W. E. & Connor, B. Control of variable speed wind turbines: Design task. International Journal of Control 73, 1189–1212 (2000)"
},
{
"identifiers": {
"doi": "10.1080/002071700417830"
},
"citation": "Leithead, W. E. & Connor, B. Control of variable speed wind turbines: Dynamic models. International Journal of Control 73, 1173–1188 (2000)"
},
{
"identifiers": {
"doi": "10.1109/37.408463"
},
"citation": "Modeling and control of variable-speed wind-turbine drive-system dynamics. IEEE Control Syst. 15, 28–38 (1995)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
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{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1080/00207178708933901"
},
"citation": "SARIBATIR, B. M. & SEZER, M. E. Modelling and control of a wind energy conversion system. International Journal of Control 46, 327–343 (1987)"
},
{
"identifiers": {},
"citation": "SHARPE D. J., Wind Energy Conversion Systems (1990)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1002/(sici)1099-1824(199804)1:1+<70::aid-we2>3.3.co;2-0"
},
"citation": "DOI not foun"
},
{
"identifiers": {},
"citation": "VAN DER SCHAFT A. J., L2-GaIn and passivity techniques in nonlinear control (1996)"
}
]
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{
"id": "36eee0c4-8c73-51ff-868d-f1284aec16a7",
"identifiers": {
"doi": "10.1080/00207170500036191"
},
"type": "journal-article",
"title": "Power balancing for a new class of non-linear systems and stabilization of RLC circuits",
"authors": [
{
"given": "Guido",
"family": "Blankenstein",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "a Department of Electrical Energy , Systems and Automation, Ghent University , Technologiepark 914, B-9052 Zwijnaarde, Belgium"
}
]
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],
"abstract": "In this paper the method of power shaping, as recently introduced for the stabilization of non-linear RLC circuits, is generalized to a larger class of systems showing similarities (and important differences) with the class of port-controlled Hamiltonian systems. Other than for port-controlled Hamiltonian systems, the stabilization of these new systems is not stymied by a ‘dissipation obstacle’ and, in fact, every power-shaping controller is power balancing as well. It is shown that the power-shaping controller can be realized as a port-controlled Hamiltonian system connected by means of a gyrator to the plant. The theoretical results are applied to the class of non-linear RLC circuits described by Brayton–Moser's equations, and a physical implementation of the controllers in terms of standard electrical circuit elements is given.",
"container_title": "International Journal of Control",
"publication_year": "2005",
"volume": "78",
"issue": "3",
"pages": "159--171",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2007-06-26",
"permalink": "power-balancing-for-a-new-class-of-non-linear-systems-and-stabilization-of-rlc-circuits",
"references": [
{
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},
{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {},
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{
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{
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{
"id": "198958d8-c3c7-58de-a7e3-94000045f1a2",
"identifiers": {
"doi": "10.1080/00207170600586970"
},
"type": "journal-article",
"title": "Modelling and simulation of static and Coulomb friction in a class of automotive systems",
"authors": [
{
"given": "R.",
"family": "Morselli",
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"name": "a D.I.I. University of Modena and Reggio Emilia , Via Vignolese 905/b, 41100 Modena, Italy"
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}
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{
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"name": "a D.I.I. University of Modena and Reggio Emilia , Via Vignolese 905/b, 41100 Modena, Italy"
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"abstract": "Static and Coulomb frictions are extensively used in automotive mechanical systems to control the synchronization between two shafts or two axles. Clutches, gearboxes and limited-slip differentials are some examples. This paper proposes a method for the efficient simulation of a wide class of automotive mechanical systems with static and Coulomb friction phenomena. The modelling approach is based on the port-Hamiltonian representation of the dynamic systems and the computation of the friction forces requires only the zero crossing detection. A slight approximation allows faster and sufficiently accurate simulations even without an accurate zero crossing detection. The proposed approach has been used to simulate the behaviour of a complex gearbox provided by some high level farm tractors.",
"container_title": "International Journal of Control",
"publication_year": "2006",
"volume": "79",
"issue": "5",
"pages": "508--520",
"publisher": "Informa UK Limited",
"event": "",
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{
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{
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},
{
"id": "726a989f-d692-5f87-b3e3-51af2a01f379",
"identifiers": {
"doi": "10.1080/00207170701361273"
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"type": "journal-article",
"title": "Achievable Casimirs and its implications on control of port-Hamiltonian systems",
"authors": [
{
"given": "R.",
"family": "Pasumarthy",
"literal": null,
"source_fields": {
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{
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"family": "van der Schaft",
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"abstract": "In this paper we extend results on interconnections of port-Hamiltonian systems to infinite-dimensional port-Hamiltonian systems and to mixed finite and infinite dimensional port-Hamiltonian systems. The problem of achievable Dirac structures is now studied for systems with dissipation, in the finite-dimensional, infinite-dimensional and the mixed finite and infinite-dimensional case. We also characterize the set of achievable Casimirs and study its application for the control of port-Hamiltonian systems.",
"container_title": "International Journal of Control",
"publication_year": "2007",
"volume": "80",
"issue": "9",
"pages": "1421--1438",
"publisher": "Informa UK Limited",
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{
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{
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},
{
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"identifiers": {
"doi": "10.1080/00207179.2010.550064"
},
"type": "journal-article",
"title": "Energy-based modelling and control of wind energy conversion system with DFIG",
"authors": [
{
"given": "H.H.",
"family": "Song",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Y.B.",
"family": "Qu",
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"abstract": "Focusing on wind energy conversion system (WECS) at the doubly-fed induction generator (DFIG) control level, a novel control approach was proposed to optimise wind energy capture from consideration of physical nature and energy relationship. According to energy flowing, the WECS was divided into several multi-ports energy conversion subsystems, and the structure matrices of the subsystems were elaborately designed. Based on this, port-controlled Hamiltonian models of the subsystems were obtained, and energy-based control using the models was provided to realise the machine side and the grid side control objectives of the WECS. The approach was applied on a 2 MW WECS, and compared with classical proportional-integral (PI) controller using MATLAB/Simulink. The results show that the energy-based control not only fully satisfies both side control requirements, but also has more robust control performances for a turbulent wind than the PI control.",
"container_title": "International Journal of Control",
"publication_year": "2011",
"volume": "84",
"issue": "2",
"pages": "281--292",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2011-03-17",
"permalink": "energy-based-modelling-and-control-of-wind-energy-conversion-system-with-dfig",
"references": [
{
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},
{
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{
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{
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},
{
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},
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},
{
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{
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},
{
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},
{
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},
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},
{
"identifiers": {
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},
"citation": "Muhando, E. B., Senjyu, T., Uehara, A., Funabashi, T. & Chul-Hwan Kim. LQG Design for Megawatt-Class WECS With DFIG Based on Functional Models’ Fidelity Prerequisites. IEEE Trans. Energy Convers. 24, 893–904 (2009)"
},
{
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{
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},
{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
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},
{
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},
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}
]
},
{
"id": "67334718-3402-5ec6-b40b-81b54ecd21dc",
"identifiers": {
"doi": "10.1080/00207179.2011.631588"
},
"type": "journal-article",
"title": "Energy-based coordinated control of wind energy conversion system with DFIG",
"authors": [
{
"given": "Y.B.",
"family": "Qu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "H.H.",
"family": "Song",
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"abstract": "This article presents an energy-based coordinated control of machine- and grid-side converters in a wind energy conversion system (WECS) with a doubly-fed induction generator (DFIG) based on the theory of port-controlled Hamiltonian (PCH) system. Taking into account energy transmission in the dual PWM converter rather than treating rectification and inversion as separate parts, an integrated PCH model for the whole WECS was established from physical meanings. And depending on the new model, an energy-based coordinated control approach was proposed to meet the control requirements of the WECS with an additional objective which was to limit the DC-link voltage fluctuation. The approach was applied on a 2MW WECS, and compared with the energy-based respective control strategy using MATLAB/Simulink. The results show that the proposed control approach provides faster dynamic performance since the two converters operate with the knowledge of each other's operating status, and thus is able to smooth the power flow in the DC-link more effectively.",
"container_title": "International Journal of Control",
"publication_year": "2011",
"volume": "84",
"issue": "12",
"pages": "2035--2045",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2011-11-04",
"permalink": "energy-based-coordinated-control-of-wind-energy-conversion-system-with-dfig",
"references": [
{
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},
{
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{
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},
{
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{
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{
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{
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{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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{
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},
{
"identifiers": {
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},
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{
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}
]
},
{
"id": "f7e7f858-4608-5f2a-ab9d-efd891c4d20f",
"identifiers": {
"doi": "10.1080/00207179.2012.660734"
},
"type": "journal-article",
"title": "Control via interconnection and damping assignment of linear time-invariant systems: a tutorial",
"authors": [
{
"given": "Romeo",
"family": "Ortega",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Zhitao",
"family": "Liu",
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"affiliation": []
}
},
{
"given": "Hongye",
"family": "Su",
"literal": null,
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],
"abstract": "Interconnection and damping assignment is a controller design methodology that regulates the behaviour of dynamical systems assigning a desired port-Hamiltonian structure to the closed-loop. A key step for the application of the method is the solution of the so-called matching equation that, in the case of nonlinear systems, is a partial differential equation. It has recently been shown that for linear systems the problem boils down to the solution of a linear matrix inequality that, moreover, is feasible if and only if the system is stabilisable – making the method universally applicable. It has also been shown that if we narrow the class of assignable structures – e.g. to mechanical instead of the larger port-Hamiltonian – the problem is still translated to a linear matrix inequality, but now stabilisability is not sufficient to ensure its feasibility. It is additionally required that the uncontrolled modes are simple and lie on the jω axis, which is consistent with the considered scenario of mechanical systems without friction. The purpose of this article is to present these important results in a tutorial, self-contained form – invoking only basic linear algebra methods.",
"container_title": "International Journal of Control",
"publication_year": "2012",
"volume": "85",
"issue": "5",
"pages": "603--611",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2012-02-14",
"permalink": "control-via-interconnection-and-damping-assignment-of-linear-time-invariant-systems-a-tutorial",
"references": [
{
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{
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{
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{
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},
{
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{
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},
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"title": "Uncontrollable dissipative systems: observability and embeddability",
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"given": "Selvaraj",
"family": "Karikalan",
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"given": "Madhu N.",
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"abstract": "The theory of dissipativity is well developed for controllable systems. A more appropriate definition in the context uncontrollable systems terms existence a storage function, namely function such that, along every system trajectory, its rate change at each time instant most power supplied to that time. However, even when expressible just external variables, property crucially hinges on whether or not depends variables unobservable/hidden from variables: this paper investigates key aspects both cases, and also proposes another intuitive dissipativity. These three definitions are compared: we show drawbacks one addressed by another.Dealing first with observable functions, under conditions no two poles add zero strict as frequency tends infinity, prove dissipativities part equivalent. We use behavioural approach formalising notions: behaviour set all trajectories. functions have be unobservable lossless' It known, however, result certain fallacious' examples lossless propose an dissipativity: system/behaviour called dissipative if it can embedded superbehaviour. embeddability results them resolve fallacy example termed due functions. next quite unreasonably, admits behaviours strictly antidissipative. Drawbacks RLC circuits finally related inability realise/synthesise special one-port electrical network, nullator, using only passive components.",
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"issue": "1",
"pages": "101--119",
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{
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"type": "journal-article",
"title": "Linear wave systems onn-D spatial domains",
"authors": [
{
"given": "Mikael",
"family": "Kurula",
"literal": null,
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{
"given": "Hans",
"family": "Zwart",
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"pages": "1--24",
"publisher": "Informa UK Limited",
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{
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"abstract": "ABSTRACT A treatment of a chemical reaction network theory is given from the perspective of nonlinear network dynamics, in particular of consensus dynamics. By starting from the complex-balanced assumption, the reaction dynamics governed by mass action kinetics can be rewritten into a form which allows for a very simple derivation of a number of key results in the chemical reaction network theory, and which directly relates to the thermodynamics and port-Hamiltonian formulation of the system. Central in this formulation is the definition of a balanced Laplacian matrix on the graph of chemical complexes together with a resulting fundamental inequality. This immediately leads to the characterisation of the set of equilibria and their stability. Furthermore, the assumption of complex balancedness is revisited from the point of view of Kirchhoff's matrix tree theorem. Both the form of the dynamics and the deduced behaviour are very similar to consensus dynamics, and provide additional perspectives to the latter. Finally, using the classical idea of extending the graph of chemical complexes by a ‘zero’ complex, a complete steady-state stability analysis of mass action kinetics reaction networks with constant inflows and mass action kinetics outflows is given, and a unified framework is provided for structure-preserving model reduction of this important class of open reaction networks.",
"container_title": "International Journal of Control",
"publication_year": "2016",
"volume": "89",
"issue": "4",
"pages": "731--745",
"publisher": "Informa UK Limited",
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"keywords": [],
"created_date": "2015-09-17",
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{
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"title": "Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments",
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"given": "Nahla Khraief",
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"name": "RISC-Lab, National School of Engineers of Tunis, University of Tunis El Manar , le Belvédère, 1002, Tunis, Tunisia"
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"name": "LIRMM, CNRS - University of Montpellier , 161 rue Ada, 34095, Montpellier Cedex 5, France"
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"abstract": "Improving the robustness, vis-à-vis matched input disturbances of interconnection and damping assignment, passivity based control (IDA-PBC) for a class of underactuated mechanical systems is addressed in this paper. The characterised class of systems is described by a Port Controlled Hamiltonian (PCH) model which represents another alternative to the classical Euler–Lagrange models for which IDA–PBC yields a smooth stabilising controller. Our main contribution consists of combining the so-called IDA-PBC controller with an adaptive control technique. Some sufficient stability conditions on matched input disturbances are given. In order to estimate the stability and performance robustness of both controllers, a stochastic robustness analysis was used. Indeed, we used the Monte Carlo simulation (MCS) based on uncertainties to analyse the behaviour of the closed-loop system. The comparison of the stability robustness between the classical IDA-PBC controller and the proposed one is then provided. As an illustration, we proposed to revisit the application of IDA-PBC controller to the inertia wheel inverted pendulum in the presence of matched disturbances. Simulation and real-time experimental results mirror the theoretical results and prove the efficiency of the proposed controller.",
"container_title": "International Journal of Control",
"publication_year": "2018",
"volume": "91",
"issue": "12",
"pages": "2657--2672",
"publisher": "Informa UK Limited",
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"authors": [
{
"given": "T. Sang",
"family": "Nguyen",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Department of Chemical Engineering, University of Malaya , Kuala Lumpur, 50603, Malaysia"
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{
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{
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{
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{
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"abstract": "ABSTRACT This paper proposes a tracking-error-based multivariable control to stabilise a nonlinear system at the desired trajectory (including the open-loop unstable equilibrium manifold). The control approach is developed on the basis of feedback passivation and then applied to stabilise globally exponentially a class of free-radical polymerisation reactors. More precisely, under certain conditions the system dynamics can be rendered strictly input/output passive through the use of an appropriate input coordinate transformation. A canonical form related to the so-called port-Hamiltonian representation of passive system is consequently derived and provides physical interpretations such as dissipative/non-dissipative term and supply rate. A feedback law based on tracking-error is then designed for the global exponential stabilisation at a reference trajectory passing through the desired set-point. The theoretical developments are illustrated for polystyrene production in a continuous stirred tank reactor. Numerical simulations show that the system trajectory converges globally exponentially to the reference trajectory despite effects of disturbance.",
"container_title": "International Journal of Control",
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"publisher": "Informa UK Limited",
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"keywords": [],
"created_date": "2018-01-22",
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"abstract": "ABSTRACT The passivity-based control (PBC) is not robust and it relies upon the system model. Moreover, partial differential equations (PDE) are encountered during its designing process which are difficult to be solved and in some cases unfeasible. In this article, reinforcement learning (RL) designs the PBC parameters via solving PDE online. RL and adaptive control are employed in order to make the nonlinear closed-loop system robust against the disturbance and model uncertainty. Through the utilisation of adaptive control technique, the passivity-based controller design along with learning could be executed as though the disturbance within the system could also be eliminated. The simulations and the comparison made with the previous methods manifest the greater advantage and superiority of the proposed method.",
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"title": "Learning feedback Nash strategies for nonlinear port-Hamiltonian systems",
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"given": "Lukas",
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"abstract": "This paper presents an adaptive control strategy for solving multi-player noncooperative differential games with dynamics modelled as general nonlinear input-state-output port-Hamiltonian systems. The proposed controller is obtained by extending an existing single-player feedback Nash strategy to N players and by using the Hamiltonian of the port-Hamiltonian system as an admissible control-Lyapunov function for each player. Necessary and sufficient conditions for the stability of the resulting controlled system are provided by employing Lyapunov stability theory. Furthermore, the N player feedback strategy is extended by adaptively weighting the individual value functions to ensure convergence to the Nash solution. Finally, numerical simulations demonstrate the effectiveness of the proposed explicit control laws.",
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"abstract": "This article is concerned with the three-dimensional (3D) trajectory tracking control (TTC) problem for a type of autonomous underwater vehicles (AUVs) subject to unknown time-varying disturbances, input saturations, and energy constraints. With the help of port-controlled Hamiltonian (PCH) method, the system model under consideration is firstly transformed into a Hamiltonian form, and a reduced-order extended state observer (ESO) is constructed to obtain the disturbance estimate. Then, a desired state-error controller is designed to guarantee the prescribed trajectory tracking performance. Subsequently, by introducing an auxiliary system enabling to decrease the effects of input saturations, the uniformly ultimate boundedness (UUB) is achieved for the closed-loop feedback system. Finally, a simulation example is given to demonstrate the effectiveness of the developed TTC approach.",
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"abstract": "In this paper, we propose a structure-preserving model order reduction (MOR) method for parametric port-Hamiltonian (PH) systems. First, Laguerre polynomials are applied to generate the local reduced-order bases at selected parameter sample points. By expanding the system state variables in the time domain through Laguerre polynomials, we obtain the expansion coefficients for each parameter sample point. These coefficients are subsequently processed to derive the local transformation matrix necessary for the reduction procedure. We then introduce the Riemannian geometry of the Grassmann manifold and employ its tangent space for interpolation. The precomputed local reduced-order bases are organised into several groups, where the reference points are independently chosen form each group to ensure that the remaining points in each group are sufficiently proximate to their corresponding reference points. By utilising logarithmic mapping, the local reduced-order bases are transferred to the tangent spaces of the Grassmann manifold at the reference points. For a new parameter, the local reduced-order bases are interpolated within the tangent spaces of the Grassmann manifold, which facilitates the structure-preserving MOR of parametric PH systems. Finally, numerical experiments are given to validate the effectiveness of the proposed method.",
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"title": "Stochastic stabilization based on kinetic-potential energy shaping for stochastic mechanical port-Hamiltonian systems",
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"given": "Satoshi",
"family": "Satoh",
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"name": "Graduate School of Engineering, Osaka University, Osaka, Japan"
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"name": "Graduate School of Engineering, Kyoto University, Kyoto, Japan"
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"abstract": "This paper extends a kinetic-potential energy shaping method to stochastic mechanical port-Hamiltonian systems. The kinetic-potential energy shaping brings a new class of Lyapunov function candidates involving a cross term of the position and the momentum without solving partial differential equations for deterministic port-Hamiltonian systems. However, the conventional kinetic-potential energy shaping does not necessarily work for stochastic port-Hamiltonian systems due to energy increase by stochastic noise. Therefore, we first provide a modification properly compensated by using stochastic generalized canonical transformations. Then, two stochastic stability results are presented. The first result shows a necessary condition for stochastic asymptotic stability for an equilibrium state. The other one shows a necessary condition for stochastic bounded stability for a target state, which is not necessarily an equilibrium point. GRAPHICAL ABSTRACT",
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{
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"type": "journal-article",
"title": "FPGA Based Integrated Control of Brushless DC Motor for Renewable Energy Storage System",
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"given": "Karthikeyan",
"family": "S.",
"literal": null,
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"affiliation": [
{
"name": "Sri Krishna College of Engineering and Technology, Coimbatore, Tamilnadu, India"
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"given": "Lakshmi",
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"name": "Department of EEE, K.S.R College of Engineering, Tiruchengode, Tamilnadu, India"
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],
"abstract": "To reduce air pollution and global warming, renewable energy technologies may generate power. Wind, solar PV, and fuel cell energy are the primary sources. Solar PV system-powered brushless direct current motor (BLDC) drives are used in the automobile industry due to their importance. In this study, Sheppard–Taylor (S-T) converter and Pulse Width Modulated (PWM) Inverter-fed BLDC provide steady voltage across the BLDC motor drive independent of solar PV system power output. When renewable energy is scarce, the proposed battery-supercapacitor hybrid energy storage system (BS-HESS) provides electricity. S-T converters may be used for load matching and power processing to create energy-efficient systems and stabilize PV panel output voltage. The variable step size open circuit voltage-Maximum Power Point Tracking (VSSOCV-MPPT) technique in S-T converter switching pulses extracts maximum power from the solar PV system. This study considers the PVSWPS control function as a Port-Controlled Hamiltonian (PCH) system to continue rural growth and reduce the greatest demand and load. MATLAB/Simulink software simulates the system’s performance, and FPGA controllers validate the controller’s real-time performance.",
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"issue": "4",
"pages": "918--939",
"publisher": "Informa UK Limited",
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"references": [
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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}
]
},
{
"id": "91a4f1da-e462-5628-9118-e15649ac45fc",
"identifiers": {
"doi": "10.1080/13873950412331335243"
},
"type": "journal-article",
"title": "Control by Interconnection and Energy Shaping of the Timoshenko Beam",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Claudio",
"family": "Melchiorri",
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}
}
],
"abstract": "In this paper, the dynamical control of a mixed finite and infinite dimensional mechanical system is approached within the framework of port Hamiltonian systems. In particular, a flexible beam, modeled according to the Timoshenko theory and in distributed port Hamiltonian form, with a mass under gravity field connected at a free end, is considered. The control problem is approached by generalization of the concept of structural invariant (Casimir function) to the infinite dimensional case and the so-called control by interconnection technique is extended to the infinite dimensional case. In this way, finite dimensional passive controllers can stabilize distributed parameter systems by shaping their total energy, i.e., by assigning a new minimum in the desired equilibrium configuration that can be reached if a dissipation effect is introduced.",
"container_title": "Mathematical and Computer Modelling of Dynamical Systems",
"publication_year": "2004",
"volume": "10",
"issue": "3-4",
"pages": "231--251",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2004-12-29",
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"references": []
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{
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"identifiers": {
"doi": "10.1080/13873950500068278"
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"type": "journal-article",
"title": "Bond graphs in model matching control",
"authors": [
{
"given": "D.",
"family": "Vink",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "D.",
"family": "Ballance",
"literal": null,
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}
},
{
"given": "P.",
"family": "Gawthrop",
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],
"abstract": "Bond graphs are primarily used in the network modeling of lumped parameter physical systems, but controller design with this graphical technique is relatively unexplored. It is shown that bond graphs can be used as a tool for certain model matching control designs. Some basic facts on the nonlinear model matching problem are recalled. The model matching problem is then associated with a particular disturbance decoupling problem, and it is demonstrated that bicausal assignment methods for bond graphs can be applied to solve the disturbance decoupling problem as to meet the model matching objective. The adopted bond graph approach is presented through a detailed example, which shows that the obtained controller induces port-Hamiltonian error dynamics. As a result, the closed loop system has an associated standard bond graph representation, thereby rendering energy shaping and damping injection possible from within a graphical context.",
"container_title": "Mathematical and Computer Modelling of Dynamical Systems",
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"issue": "2-3",
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"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2005-12-13",
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"references": [
{
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"given": "M.",
"family": "Schöberl",
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"abstract": "This contribution is dedicated to the geometric description of infinite-dimensional port Hamiltonian systems with in- and output operators. Several approaches exist, which deal with the extension of the well-known lumped parameter case to the distributed one. In this article a description has been chosen, which preserves useful properties known from the class of port controlled Hamiltonian systems with dissipation in the lumped scenario. Furthermore, the introduced in- and output maps are defined by linear differential operators. The derived theory is applied to the piezoelectric field equations to obtain their port Hamiltonian representation. In this example, the electrical field strength is assumed to act as distributed input. Finally it is shown, that distributed inputs, that are in the kernel of the input map act similarly on the system as certain boundary inputs.",
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{
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{
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{
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"affiliation": [
{
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"given": "F.",
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{
"name": "a LAGEP, UMR 5007 CNRS/Université C. B. Lyon 1 , ESCPE-Lyon Bat 308G, 43 Bd du 11 novembre 1918, 69622, Villeurbanne Cedex, France"
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]
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"given": "D.",
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"name": "a LAGEP, UMR 5007 CNRS/Université C. B. Lyon 1 , ESCPE-Lyon Bat 308G, 43 Bd du 11 novembre 1918, 69622, Villeurbanne Cedex, France"
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}
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{
"given": "C.",
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"affiliation": [
{
"name": "a LAGEP, UMR 5007 CNRS/Université C. B. Lyon 1 , ESCPE-Lyon Bat 308G, 43 Bd du 11 novembre 1918, 69622, Villeurbanne Cedex, France"
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{
"given": "L.",
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"name": "a LAGEP, UMR 5007 CNRS/Université C. B. Lyon 1 , ESCPE-Lyon Bat 308G, 43 Bd du 11 novembre 1918, 69622, Villeurbanne Cedex, France"
}
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}
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"name": "a LAGEP, UMR 5007 CNRS/Université C. B. Lyon 1 , ESCPE-Lyon Bat 308G, 43 Bd du 11 novembre 1918, 69622, Villeurbanne Cedex, France"
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{
"given": "B.",
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{
"name": "a LAGEP, UMR 5007 CNRS/Université C. B. Lyon 1 , ESCPE-Lyon Bat 308G, 43 Bd du 11 novembre 1918, 69622, Villeurbanne Cedex, France"
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"abstract": "The goal of this article is to present an extension of the port-based modelling approach (bond graphs) which applies to systems subject to heat and mass transfer. The methodology is based on the first principle, conservation laws and constitutive closure relations. The latter are the phenomenological laws relating fluxes and thermodynamic forces. Then instantaneous power conservation appears naturally as a geometric interconnection structure called Dirac structure. The multi-level case (several macroscopic spatial scales) is investigated with the assumption that the spatial scales are separated and may be considered as two distinct phases. In this case, it is shown that both the interconnection coupling within a phase and the multi-level interconnection coupling are Dirac structures.",
"container_title": "Mathematical and Computer Modelling of Dynamical Systems",
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"volume": "15",
"issue": "3",
"pages": "233--254",
"publisher": "Informa UK Limited",
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{
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},
"type": "journal-article",
"title": "Memristive port-Hamiltonian Systems",
"authors": [
{
"given": "Dimitri",
"family": "Jeltsema",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
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{
"given": "Arjan J.",
"family": "van der Schaft",
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"abstract": "The port-Hamiltonian modelling framework is extended to a class of systems containing memristive elements and phenomena. First, the concept of memristance is generalised to the same generic level as the port-Hamiltonian framework. Second, the underlying Dirac structure is augmented with a memristive port. The inclusion of memristive elements in the port-Hamiltonian framework turns out to be almost as straightforward as the inclusion of resistive elements. Although a memristor is a resistive element, it is also a dynamic element since the associated Ohmian laws are rather expressed in terms of differential equations. This means that the state space manifold, as naturally defined by the storage elements, is augmented by the states associated with the memristive elements. Hence the order of complexity is, in general, defined by the number of storage elements plus the number of memristors in the system. Apart from enlarging our repertoire of modelling building blocks, the inclusion of memristive elements in the existing port-Hamiltonian formalism possibly opens up new ideas for controller synthesis and design.",
"container_title": "Mathematical and Computer Modelling of Dynamical Systems",
"publication_year": "2010",
"volume": "16",
"issue": "2",
"pages": "75--93",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2010-04-21",
"permalink": "memristive-port-hamiltonian-systems",
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},
{
"id": "fdeec424-05ee-5a8a-b5ba-b7c3643944ad",
"identifiers": {
"doi": "10.1080/13873954.2010.537524"
},
"type": "journal-article",
"title": "Geometric pseudospectral method for spatial integration of dynamical systems",
"authors": [
{
"given": "Redha",
"family": "Moulla",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Laurent",
"family": "Lefèvre",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Bernhard",
"family": "Maschke",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
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],
"abstract": "A reduction method that preserves geometric structure and energetic properties of non-linear distributed parameter systems is presented. It is stated as a general pseudospectral method using approximation spaces generated by polynomials bases. It applies to Hamiltonian formulations of distributed parameter systems that may be derived for hyperbolic systems (wave equation, beam model, shallow water model) as well as for parabolic ones (heat or diffusion equations, reaction–diffusion models). It is defined in order to preserve the geometric symplectic interconnection structure (Stokes–Dirac structure) of the infinite-dimensional model by performing exact differentiation and by a suitable choice of port variables. This leads to a reduced port-controlled Hamiltonian finite-dimensional system of ordinary differential equations. Moreover, the stored and dissipated power in the reduced model are approximations of the distributed ones. The method thus allows the direct use of thermodynamics phenomenological constitutive equations for the design of passivity-based or energy-shaping control techniques.",
"container_title": "Mathematical and Computer Modelling of Dynamical Systems",
"publication_year": "2011",
"volume": "17",
"issue": "1",
"pages": "85--104",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2011-01-26",
"permalink": "geometric-pseudospectral-method-for-spatial-integration-of-dynamical-systems",
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{
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{
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},
{
"identifiers": {
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},
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},
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"abstract": "In this article, a method to preserve stability in parametric model reduction by matrix interpolation is presented. Based on the matrix measure approach, sufficient conditions on the original system matrices are derived. Once they are fulfilled, the stability of each of the reduced models is guaranteed as well as that of the parametric model resulting from interpolation. In addition, it is shown that these sufficient conditions are met by port-Hamiltonian systems and by a relevant set of second-order systems obtained by the finite element method. The new approach is illustrated by two numerical examples.",
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"title": "A structured control model for the thermo-magneto-hydrodynamics of plasmas in tokamaks",
"authors": [
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"given": "Ngoc Minh Trang",
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"abstract": "ABSTRACT A thermo-magneto-hydrodynamics port-Hamiltonian model is derived for the plasmas in tokamaks. Electromagnetic field and material domain balance equations are expressed in covariant forms, together with the magneto-hydrodynamics interconnection structure connecting them together. The balance equations for the entropy, mass and momentum, as well as closure equations in the material domain, are derived from the Boltzmann equation (kinetic theory). The Gibbs–Duhem equation is used to compute the irreversible entropy source term and to define the interdomain ℜ-field of the model. All derived interdomain couplings in the material domain are represented using Dirac and Stokes–Dirac structures and the resistivity ℜ-field structure. The complete model is summarized in a Bond Graph.",
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"doi": "10.1080/13873954.2016.1201517"
},
"type": "journal-article",
"title": "Hamiltonian modelling and buckling analysis of a nonlinear flexible beam with actuation at the bottom",
"authors": [
{
"given": "Megha V.",
"family": "Trivedi",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Ravi N.",
"family": "Banavar",
"literal": null,
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"affiliation": []
}
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"given": "Paul",
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"abstract": "ABSTRACT The use of beams and similar structural elements is finding increasing application in many areas including micro and nanotechnology devices. For the purpose of buckling analysis and control, it is essential to account for nonlinear terms in the strains while modelling these flexible structures. Further, the Poisson’s effect can be accounted in modelling by the use of a two-dimensional stress–strain relationship. This paper studies the buckling effect for a slender, vertical beam (in the clamped-free configuration) with horizontal actuation at the fixed end and a tip-mass at the free end. Including also the inextensibility constraint of the beam, the equations of motion are derived. A preliminary modal analysis of the system has been carried out to describe candidate post-buckling configurations and study the stability properties of these equilibria. The vertical configuration of the beam under the action of gravity is without loss of generality, since the objective is to model a potential field that determines the equilibria. Neglecting the inextensibility constraint, the equations of motion are then casted in port-Hamiltonian form with appropriately defined flows and efforts as a basis for structure-preserving discretization and simulation. Finally, the finite-dimensional model is simulated to obtain the time response of the tip-mass for different loading conditions.",
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"issue": "5",
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{
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{
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{
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{
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{
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{
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{
"identifiers": {
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},
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{
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{
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{
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},
{
"id": "7b0cc73c-ef07-5002-b30f-8d78e7d0ea45",
"identifiers": {
"doi": "10.1080/13873954.2016.1232280"
},
"type": "journal-article",
"title": "Distributed and backstepping boundary controls for port-Hamiltonian systems with symmetries",
"authors": [
{
"given": "Ngoc Minh Trang",
"family": "Vu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Laurent",
"family": "Lefèvre",
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},
{
"given": "Rémy",
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],
"abstract": "ABSTRACT A geometric spatial reduction for the port-Hamiltonian models is presented in this paper. It is based on the projection which makes use of the symmetries and on the preservation of the ‘natural’ power pairing for the considered system. Thanks to this reduction, an Interconnection and Damping Assignment Passivity Based Control (IDA-PBC-like) synthesis for infinite dimensional port-Hamiltonian systems is investigated. As for the finite dimensional case, a feedback control transforms the original model into a closed-loop target Hamiltonian model. Both distributed control and boundary control are used. The finite rank distributed control is determined to solve an average IDA-PBC matching equation. A backstepping boundary control is used to stabilize the matching error. The control model chosen to illustrate the approach is the so-called resistive diffusion equation for the radial diffusion of the poloidal magnetic flux.",
"container_title": "Mathematical and Computer Modelling of Dynamical Systems",
"publication_year": "2017",
"volume": "23",
"issue": "1",
"pages": "55--76",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2016-09-21",
"permalink": "distributed-and-backstepping-boundary-controls-for-port-hamiltonian-systems-with-symmetries",
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{
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{
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{
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{
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},
{
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{
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{
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{
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{
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{
"identifiers": {
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}
]
},
{
"id": "6b4a18e2-9722-50d6-a623-15e52cb966f7",
"identifiers": {
"doi": "10.1080/13873954.2016.1232282"
},
"type": "journal-article",
"title": "Boundary energy-shaping control of an isothermal tubular reactor",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Yann",
"family": "Le Gorrec",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Héctor",
"family": "Ramírez",
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"sequence": "additional",
"affiliation": []
}
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],
"abstract": "ABSTRACT This paper illustrates a general synthesis methodology of asymptotic stabilizing, energy-based, boundary control laws that are applicable to a large class of distributed port-Hamiltonian systems. The methodological results are applied on a simplified model of an isothermal tubular reactor. Due to the presence of diffusion and convection, such example, even if relatively easy from a computational point of view, is not trivial. The idea here is to design a state feedback law able to perform the energy-shaping task, i.e. able to render the closed-loop system a port-Hamiltonian system with the same structure, but characterized by a new Hamiltonian with a unique and isolated minimum at the equilibrium. Asymptotic stability is then obtained via damping injection on the boundary and is a consequence of the LaSalle’s Invariance Principle in infinite dimensions.",
"container_title": "Mathematical and Computer Modelling of Dynamical Systems",
"publication_year": "2017",
"volume": "23",
"issue": "1",
"pages": "77--88",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2016-09-15",
"permalink": "boundary-energy-shaping-control-of-an-isothermal-tubular-reactor",
"references": [
{
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{
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},
{
"identifiers": {
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{
"identifiers": {
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},
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},
{
"identifiers": {},
"citation": "Macchelli A., Chap. Infinite-Dimensional Port-Hamiltonian Systems (2009)"
},
{
"identifiers": {
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},
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},
{
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{
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{
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{
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{
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{
"identifiers": {
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"citation": "Macchelli, A. Boundary energy shaping of linear distributed port-Hamiltonian systems. European Journal of Control vol. 19 521–528 (2013)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0419-3"
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}
]
},
{
"id": "2f12ebe3-9c0b-513f-9166-e77e5e7bd501",
"identifiers": {
"doi": "10.1080/13873954.2016.1237970"
},
"type": "journal-article",
"title": "Distributed port-Hamiltonian modelling for irreversible processes",
"authors": [
{
"given": "W.",
"family": "Zhou",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "B.",
"family": "Hamroun",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "F.",
"family": "Couenne",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Y.",
"family": "Le Gorrec",
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"source_fields": {
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"affiliation": []
}
}
],
"abstract": "ABSTRACT Infinite-dimensional port-Hamiltonian representation of irreversible processes accounting for the thermal energy domain is presented. Two examples are studied: the transmission line and a non-isothermal reaction diffusion process. The proposed approach uses thermodynamic variables in order to define the infinite-dimensional interconnection structure linking the different phenomena. A presentation is given for one-dimensional spatial domain. For the transmission line, the Hamiltonian is the total energy and for the reaction diffusion process it is the enthalpy or the opposite of entropy.",
"container_title": "Mathematical and Computer Modelling of Dynamical Systems",
"publication_year": "2017",
"volume": "23",
"issue": "1",
"pages": "3--22",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2016-10-05",
"permalink": "distributed-port-hamiltonian-modelling-for-irreversible-processes",
"references": [
{
"identifiers": {
"doi": "10.1007/978-3-642-03196-0"
},
"citation": "Duindam, V., Macchelli, A., Stramigioli, S. & Bruyninckx, H. Modeling and Control of Complex Physical Systems. (Springer Berlin Heidelberg, 2009). doi:10.1007/978-3-642-03196-0"
},
{
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"doi": "10.1080/13873954.2017.1385638"
},
"type": "journal-article",
"title": "A momentum form of Kane’s equations for scleronomic systems",
"authors": [
{
"given": "James R.",
"family": "Phillips",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Applications Engineering, Applied Dynamics International, Ann Arbor, MI, USA"
}
]
}
},
{
"given": "Farid",
"family": "Amirouche",
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"affiliation": [
{
"name": "Department of Orthopaedic Surgery, University of Illinois at Chicago, Chicago, IL, USA"
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],
"abstract": "ABSTRACT Kane’s dynamical equations are an efficient and widely used method for deriving the equations of motion for multibody systems. Despite their popularity, no publication has appeared which adapts them for use with port-based modelling tools such as bond graphs, linear graphs or port-Hamiltonian theory. In this paper, we present – for scleronomic systems – a momentum form of Kane’s equations, fully compatible with port-based modelling methods. When applied to holonomic systems using coordinate derivatives, the momentum form of Kane’s equations is an efficient alternative to Lagrange’s equations, providing a momentum formulation without the need to assemble and differentiate the system kinetic co-energy function. When applied to holonomic or nonholonomic systems using generalized speeds, a rotational decomposition of the generalized forces leads to a convenient set of matrix equations of motion, for which a system-level multibond graph interpretation is given. Heuristics are provided for selection of generalized speeds which, for systems with open-chain kinematics, produce a block-diagonal mass matrix and reduce the complexity of the equations from order- to order-. For scleronomic systems, the momentum formulation retains all analysis capabilities offered by the original acceleration formulation. Two example problems are solved with the momentum formulation, including the nonholonomic rolling thin disk.",
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"volume": "24",
"issue": "2",
"pages": "143--169",
"publisher": "Informa UK Limited",
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"identifiers": {
"doi": "10.1080/13873954.2019.1566265"
},
"type": "journal-article",
"title": "An energy-based analysis of reduced-order models of (networked) synchronous machines",
"authors": [
{
"given": "T. W.",
"family": "Stegink",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0002-0275-811X",
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"affiliation": [
{
"name": "Engineering and Technology institute Groningen, University of Groningen, Groningen, The Netherlands"
}
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}
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{
"given": "C.",
"family": "De Persis",
"literal": null,
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{
"name": "Engineering and Technology institute Groningen, University of Groningen, Groningen, The Netherlands"
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{
"given": "A. J.",
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"name": "Johann Bernoulli Institute for Mathematics and Computer Science, University of Groningen, Groningen, The Netherlands"
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],
"abstract": "ABSTRACT Stability of power networks is an increasingly important topic because of the high penetration of renewable distributed generation units. This requires the development of advanced techniques for the analysis and controller design of power networks. Although there are widely accepted reduced-order models to describe the power network dynamics, they are commonly presented without details about the reduction procedure. The present article aims to provide a modular model derivation of multi-machine power networks. Starting from first-principle fundamental physics, we present detailed dynamical models of synchronous machines and clearly state the underlying assumptions which lead to some of the standard reduced-order multi-machine models. In addition, the energy functions for these models are derived, which allows to represent the multi-machine systems as port-Hamiltonian systems. Moreover, the systems are proven to be shifted passive, which permits for a power-preserving interconnection with other passive components. Graphical Abstract",
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"volume": "25",
"issue": "1",
"pages": "1--39",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2019-02-12",
"permalink": "an-energy-based-analysis-of-reduced-order-models-of-networked-synchronous-machines",
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{
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"identifiers": {
"doi": "10.1080/13873954.2019.1659374"
},
"type": "journal-article",
"title": "Port-Hamiltonian modelling of nonlocal longitudinal vibrations in a viscoelastic nanorod",
"authors": [
{
"given": "Hanif",
"family": "Heidari",
"literal": null,
"source_fields": {
"ORCID": "http://orcid.org/0000-0002-6321-3295",
"authenticated-orcid": false,
"sequence": "first",
"affiliation": [
{
"name": "School of Mathematics and Computer Sciences, Damghan University, Damghan, Iran"
}
]
}
},
{
"given": "H.",
"family": "Zwart",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Department of Applied Mathematics, University of Twente, Enschede, The Netherlands"
},
{
"name": "Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands"
}
]
}
}
],
"abstract": "ABSTRACT Analysis of nonlocal axial vibration in a nanorod is a crucial subject in science and engineering because of its wide applications in nanoelectromechanical systems. The aim of this paper is to show how these vibrations can be modelled within the framework of port-Hamiltonian systems. It turns out that two port-Hamiltonian descriptions in physical variables are possible. The first one is in descriptor form, whereas the second one has a non-local Hamiltonian density. In addition, it is shown that under appropriate boundary conditions these models possess a unique solution which is non-increasing in the corresponding ‘energy’, i.e., the associated infinitesimal generator generates a contraction semigroup on a Hilbert space, whose norm is directly linked to the Hamiltonian.",
"container_title": "Mathematical and Computer Modelling of Dynamical Systems",
"publication_year": "2019",
"volume": "25",
"issue": "5",
"pages": "447--462",
"publisher": "Informa UK Limited",
"event": "",
"keywords": [],
"created_date": "2019-08-29",
"permalink": "port-hamiltonian-modelling-of-nonlocal-longitudinal-vibrations-in-a-viscoelastic-nanorod",
"references": [
{
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{
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{
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{
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{
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{
"identifiers": {
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{
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},
"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. (2014) doi:10.1561/9781601987877"
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{
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{
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"abstract": "ABSTRACT A simple and scalable finite-dimensional model based on the port-Hamiltonian framework is proposed to describe the fluid–structure interaction in tubes with time-varying geometries. For this purpose, the moving tube wall is described by a set of mass-spring-damper systems while the fluid is considered as a one-dimensional incompressible flow described by the average momentum dynamics in a set of incompressible flow sections. To couple these flow sections small compressible volumes are defined to describe the pressure between two adjacent fluid sections. The fluid-structure coupling is done through a power-preserving interconnection between velocities and forces. The resultant model includes external inputs for the fluid and inputs for external forces over the mechanical part that can be used for control or interconnection purposes. Numerical examples show the accordance of this simplified model with finite-element models reported in the literature.",
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"abstract": "ABSTRACT We investigate an energy-based formulation of the two-field poroelasticity model and the related multiple-network model as they appear in geosciences or medical applications. We propose a port-Hamiltonian formulation of the system equations, which is beneficial for preserving important system properties after discretization or model-order reduction. For this, we include the commonly omitted second-order term and consider the corresponding first-order formulation. The port-Hamiltonian formulation of the quasi-static case is then obtained by (formally) setting the second-order term zero. Further, we interpret the poroelastic equations as an interconnection of a network of submodels with internal energies, adding a control-theoretic understanding of the poroelastic equations.",
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"abstract": "ABSTRACT Port-Hamiltonian systems theory provides a structured approach to modelling, optimization and control of multiphysical systems. Yet, its relationship to thermodynamics seems to be unclear. The Hamiltonian is traditionally thought of as energy, although its meaning is exergy. This insight yields benefits: 1. Links to the GENERIC structure are identified, making it relatively easy to borrow ideas from a popular nonequilibrium thermodynamics framework. 2. The port-Hamiltonian structure combined with a bond-graph syntax is expected to become a main ingredient in thermodynamic optimization methods akin to exergy analysis and beyond. The intuitive nature of exergy and diagrammatic language facilitates interdisciplinary communication that is necessary for implementing sustainable energy systems and processes. Port-Hamiltonian systems are cyclo-passive, meaning that a power-balance equation immediately follows from their definition. For exergetic port-Hamiltonian systems, cyclo-passivity is synonymous with degradation of energy and follows from the first and the second law of thermodynamics being encoded as structural properties.",
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"abstract": "ABSTRACT Heat transfer and cooling solutions play an important role in the design of gas turbine blades. However, the underlying mathematical coupling structures have not been thoroughly investigated. In this work, the port-Hamiltonian formalism is applied to the conjugate heat transfer problem in gas turbine blades. A mathematical model based on common engineering simplifications is constructed and further simplified to reduce complexity and focus on the coupling structures of interest. The model is then cast as a port-Hamiltonian system and examined for stability and well posedness.",
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"abstract": "ABSTRACT A fluid–structure interaction model in a port-Hamiltonian representation is derived for a classical guitar. After discretization, we combine the laws of continuum mechanics for solids and fluids within a unified port-Hamiltonian (pH) modelling approach by adapting the equations through an appropriate coordinate transformation on the second-order level. The high-dimensionality of the resulting system is reduced by model order reduction. The article focuses on pH-systems in different state transformations, a variety of basis generation techniques as well as structure-preserving model order reduction approaches that are independent from the projection basis. As main contribution, a thorough comparison of these method combinations is conducted. In contrast to typical frequency-based simulations in acoustics, transient time simulations of the system are presented. The approach is embedded into a straightforward workflow of sophisticated commercial software modelling and flexible in-house software for multi-physics coupling and model order reduction.",
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"abstract": "ABSTRACT We present a new structure-preserving model order reduction (MOR) framework for large-scale port-Hamiltonian descriptor systems (pH-DAEs). Our method exploits the structural properties of the Rosenbrock system matrix for this system class and utilizes condensed forms which often arise in applications and reveal the solution behaviour of a system. Provided that the original system has such a form, our method produces reduced-order models (ROMs) of minimal dimension, which tangentially interpolate the original model’s transfer function and are guaranteed to be again in pH-DAE form. This allows the ROM to be safely coupled with other dynamical systems when modelling large system networks, which is useful, for instance, in electric circuit simulation.",
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"title": "On the velocity-stress formulation for geometrically nonlinear elastodynamics and its structure-preserving discretization",
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"abstract": "We consider the dynamics of an elastic continuum under large deformation but small strain. Such systems can be described by the equations of geometrically nonlinear elastodynamics in combination with the St. Venant-Kirchhoff material law. The velocity-stress formulation of the problem turns out to have a formal port-Hamiltonian structure. In contrast to the linear case, the operators of the problem are modulated by the displacement field which can be handled as a passive variable and integrated along with the velocities. A weak formulation of the problem is derived and essential boundary conditions are incorporated via Lagrange multipliers. This variational formulation explicitly encodes the transfer between kinetic and potential energy in the interior as well as across the boundary, thus leading to a global power balance and ensuring passivity of the system. The particular geometric structure of the weak formulation can be preserved under Galerkin approximation via appropriate mixed finite elements. In addition, a fully discrete power balance can be obtained by appropriate time discretization. The main properties of the system and its discretization are shown theoretically and demonstrated by numerical tests.",
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"abstract": "This paper reveals energy shaping passivity-based control methodology for a three-level (TL) Ćuk PFC converter. The proposed control methodology is based on the dynamic model of the system along with the idea of energy shaping and damping injection. First, a dynamic model of the TL Ćuk PFC converter is developed using the port-controlled Hamiltonian formulation and the state-space averaging technique. Then, the PCH control technique is implemented in the system and the stability analysis is carried out. In order to eliminate the steady state error, a PI controller is integrated with the PCH-PBC control scheme. Further, the performances of aforesaid system are investigated for battery charging application with the help of MATLAB/Simulink. To validate the simulation study, a prototype model of TL Ćuk PFC converter with proposed controller is built using OP-5142 real-time simulator and test results are recorded. Furthermore, the power quality features of TL Ćuk PFC converter are assessed through monitoring of input current THD under different operating conditions. To assess the system performance in terms of efficiency, input p.f., input current THD, and controller parameters, the proposed controller is compared with benchmark PI controller under dynamic variations at the input voltage and the load.",
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"title": "Stability properties of some port-Hamiltonian SPDEs",
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"abstract": "We examine the existence and uniqueness of invariant measures of a class of stochastic partial differential equations with Gaussian and Poissonian noise and its exponential convergence. This class especially includes a case of stochastic port-Hamiltonian equations.",
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"abstract": "In this paper, we propose a new second-order sliding mode controller for mechanical port-Hamiltonian systems. This paper proposes a passivity-based sliding mode controller based on kinetic-potential energy shaping (KPES). So far this type of controller was only able to achieve first-order sliding mode control, since the KPES allows one to embed a subsystem whose dimension is the same as that of the input into the closed-loop system. This paper extends the KPES to incorporate a higher-order subsystem in the closed-loop system, which enables us to obtain the subsystem that can realize second-order sliding mode control. The proposed controller is integration of a passivity-based controller and a second-order sliding mode controller which does not cause undesirable chattering phenomena. It ensures finite-time convergence of the subsystem and asymptotic stability of the entire closed-loop system by utilizing two Lyapunov functions. Moreover, due to the design freedom in selecting a Lyapunov function candidate of the KPES, it can deal with several control objectives including trajectory tracking control. A numerical example demonstrates the effectiveness of the proposed method.",
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"abstract": "This paper studies the energy-based approach for controller design of -degree of freedom mechanical systems. In this approach, the Hamiltonian function, which is the sum of kinetic and potential energies of the system, is considered as the Lyapunov function for stability analysis. The stability analysis is done based on the port-controlled Hamiltonian (PCH) model. In this regard, two theorems are given and proved that the proposed controllers lead to disturbance attenuation for both absolutely known system model and unknown ones with parametric uncertainties. In the case of parametric uncertainties, the energy-based controller has an adaptive approach. Performance of proposed controllers is illustrated through simulations taken on a 2-link robot manipulator system, which validate the theoretical achievements of this paper.",
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"authors": [
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"name": "Key Laboratory of Power Dig Data of Guizhou Province, School of Electrical and Information Engineering, Guizhou Institute of Technology, Guiyang, People's Republic of China"
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"abstract": "Based on the port-controlled dissipative Hamiltonian (PCDH) system, a novel nonlinear (NN) H ∞ control is designed for the wind farm side (WFS) voltage source converter (VSC) of VSC-based high-volt...",
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"abstract": "Control theory usually finds no suitable place in the education of physics. The port-Hamiltonian framework, which generalizes the formalism of Hamiltonian mechanics, provides a physics-based control strategy. This framework is also promising in the education of physicists in control theory. In this paper, we use the port-Hamiltonian framework to reformulate a physics system and introduce the physics-based control strategy, including the energy, dissipation, and structure assignments. The closed-loop Hamiltonian is a candidate of the Lyapunov function, which guarantees the global stability of the closed-loop system. These physics-based control strategies are illustrated using the Duffing oscillator and the Lorenz system. We also provide port-Hamiltonian descriptions for two examples in celestial mechanics.",
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"abstract": "In this paper a general port-Hamiltonian model of a synchronous generator is presented and the effects of deviations and disturbances of the terminal signals on generator control laws are discussed. We discuss how control laws should be designed to minimize the effect of small variations in the generators terminal conditions, i.e. local control that does not have access or knowledge to a model of the rest of the system. For analysis purpose we present a linearized generator model and apply a full state feedback control consisting of both regulation of the generator flux and rotational dynamics.",
"container_title": "Journal of Physics: Conference Series",
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"issue": "1",
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{
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"given": "Israa Badr Nasser",
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"abstract": "A bond graph Input-State-Output Port-Hamiltonian formulation of memristive networks for Josephson junction circuits in state space is presented. The methodology has applications to the modeling of SQUIDs and other non-linear transducers and enables the formulation of input-output models of complex components embedded in non-linear networks.",
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"abstract": "This paper presents an analysis of mobility on an over-actuated Remotely Operated Vehicle (ROV) that becomes under-actuated due to multiple actuator faults of different types of degradation. The analysis is developed on a regulation control problem, including modeling and robust control design. The dynamic model is formulated using a Port-Hamiltonian formalism, emphasizing energy conservation and passivity. The control strategy is developed through a Control by Interconnection (CbI) structure to regulate the ROV posture as an interconnected energy-based system. Singular Value Decomposition (SVD) is employed to assess mobility effectiveness in each spatial direction. Quadratic Programming (QP) is used for realistic control allocation under actuator constraints and fault conditions, highlighting the direction with reduced effectiveness for improving performance in a complete posture regulation task. The simulation results validate control allocation based on QP, demonstrating its robustness in maintaining ROV stability and achieving posture regulation under various fault scenarios. It has been shown that the ROV topology under study supports two individual thruster faults and still achieves a 3D target, and the resulting reduced directions can be enhanced by QP allocation; for instance, yaw error is improved by nearly 50% compared with the SVD method, demonstrating its ability to redistribute control forces efficiently while preserving closed-loop stability. Furthermore, computational performance analysis confirms the approach’s real-time feasibility for experimental implementation, with the QP solver operating at about 1 ms per iteration.",
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"abstract": "Abstract Soft robots are machines, and like all machines their function is to convert energy from one form into another to perform tasks. One key figure of merit for machines is their efficiency, which is defined as the ratio of task-oriented work out to total energy in. All soft robots convert stored energy (from e.g., batteries, pressurized gas, chemicals) into task-oriented work (picking up objects, locomoting, jumping). These systems are complex hybrids of chemical, mechanical, pneumatic, hydraulic, and electrical components. This complexity makes it difficult to analyze and measure their total efficiency and to identify the sources of energy loss between chemical, electrical, and mechanical domains. As the field of soft robotics matures, the design-flow process will shift from one in which building is central to one in which simulation takes precedence. That is, there is a shift from an empirical experimental methodology toward a well-characterized engineering workflow. At this point, questions such ...",
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"abstract": "We study different representations of a given rational transfer function that represents a passive (or positive real) discrete-time system. When the system is subject to perturbations, passivity or stability may be lost. To make the system robust, we use the freedom in the representation to characterize and construct optimally robust representations in the sense that the distance to non-passivity is maximized with respect to an appropriate matrix norm. We link this construction to the solution set of certain linear matrix inequalities defining passivity of the transfer function. We present an algorithm to compute a nearly optimal representation using an eigenvalue optimization technique. We also briefly consider the problem of finding the nearest passive system to a given non-passive one.",
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"given": "François",
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"abstract": "The notion of implicit port-Lagrangian systems for nonholonomic mechanics was proposed in Yoshimura & Marsden (2006a, J. Geom. Phys., 57, 133–156; 2006b, J. Geom. Phys., 57, 209–250; 2006c, Proc. of the 17th International Symposium on Mathematical Theory of Networks and Systems, Kyoto) as a Lagrangian analogue of implicit port-Hamiltonian systems. Such port-systems have an interconnection structure with ports through which power is exchanged with the exterior and which can be modeled by Dirac structures. In this paper, we present the notions of implicit port-Lagrangian systems and port-Dirac dynamical systems in nonequilibrium thermodynamics by generalizing the Dirac formulation to the case allowing irreversible processes, both for closed and open systems. Port-Dirac systems in nonequilibrium thermodynamics can be also deduced from a variational formulation of nonequilibrium thermodynamics for closed and open systems introduced in Gay-Balmaz & Yoshimura (2017a, J. Geom. Phys., 111, 169–193; 2018a, Entropy, 163, 1–26). This is a type of Lagrange–d’Alembert principle for the specific class of nonholonomic systems with nonlinear constraints of thermodynamic type, which are associated to the entropy production equation of the system. We illustrate our theory with some examples such as a cylinder-piston with ideal gas, an electric circuit with entropy production due to a resistor and an open piston with heat and matter exchange with the exterior.",
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"abstract": "The port-Hamiltonian (pH) theory for distributed parameter systems has developed greatly in the past two decades. The theory has been successfully extended from finite-dimensional to infinite-dimensional systems through a lot of research efforts. This article collects the different research studies carried out for distributed pH systems. We classify over a hundred and fifty studies based on different research focuses ranging from modeling, discretization, control and theoretical foundations. This literature review highlights the wide applicability of the pH systems theory to complex systems with multi-physical domains using the same tools and language. We also supplement this article with a bibliographical database including all papers reviewed in this paper classified in their respective groups.",
"container_title": "IMA Journal of Mathematical Control and Information",
"publication_year": "2020",
"volume": "37",
"issue": "4",
"pages": "1400--1422",
"publisher": "Oxford University Press (OUP)",
"event": "",
"keywords": [],
"created_date": "2020-07-09",
"permalink": "twenty-years-of-distributed-port-hamiltonian-systems-a-literature-review",
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"title": "Passivity-based control of islanded microgrids with unknown power loads",
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"given": "Sofía",
"family": "Avila-Becerril",
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"name": "Facultad de Ingeniería, Universidad Nacional Autónoma de México. Av Universidad 3000, CDMX, 04510, México"
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"name": "Laboratorio Inteligente de Energía, Universidad Tecnológica de Bolívar, km 1 vía Turbaco, Cartagena 131001, Colombia. Facultad de Ingeniería, Universidad Distrital Francisco José de Caldas, Carrera 7, Bogotá D.C. 11021, Colombia"
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"abstract": "In this paper, the control problem of microgrids (MGs)operating in islanded mode is approached from a passivity-based control perspective. A control scheme is proposed that, relying only on local measurements for the power converters included in the network representation, achieves both voltage regulation and power balance in the network through the generation of grid-forming and grid-following nodes. From the mathematical perspective, the importance of the contribution lies in the feature that, exploiting a port-controlled Hamiltonian representation of the MG, the closed-loop system’s stability properties are formally proved using arguments from the theory of non-linear dynamical systems. Fundamental for this achievement is the decomposition of the system into subsystems that require a control law and another whose variables can evolve in a free way. From the practical viewpoint, the advantage of the proposed controller lies in the feature that the power demanded by the loads is satisfied without neither computing its specific value nor solving the non-linear algebraic equations given by the power flow, avoiding the computational burden associated with this task. The usefulness of the scheme is illustrated via a numerical simulation that includes practical considerations.",
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"title": "Structure-preserving discretization and control of a two-dimensional vibro-acoustic tube",
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"given": "Ning",
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"name": "FEMTO-ST, Université Bourgogne Franche-Comté, CNRS, 24 rue Savary, F-25000 Besançon, France"
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"name": "FEMTO-ST, Université Bourgogne Franche-Comté, CNRS, 24 rue Savary, F-25000 Besançon, France"
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"name": "FEMTO-ST, Université Bourgogne Franche-Comté, CNRS, 24 rue Savary, F-25000 Besançon, France"
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"given": "Hector",
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"name": "Department of Electronic Engineering, Universidad Tecnica Federico Santa Maria, Avenida Espana 1680, Valparaiso, Chile"
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"abstract": "This paper deals with the structure-preserving discretization and control of a two-dimensional vibro-acoustic tube using the port-Hamiltonian framework. A discretization scheme is proposed, and a set of precise basis functions are given in order to obtain a structure-preserving finite-dimensional port- Hamiltonian approximation of the two-dimensional vibro-acoustic system. Using the closed-loop structural invariants of the approximated system an energy-Casimir controller is derived. The performance of the proposed discretization scheme and the controller is shown by means of numerical simulations.",
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"abstract": "Lumped elements models of vocal folds are relevant research tools that can enhance the understanding of the pathophysiology of many voice disorders. In this paper, we use the port-Hamiltonian framework to obtain an energy-based model for the fluid–structure interactions between the vocal folds and the airflow in the glottis. The vocal fold behavior is represented by a three-mass model and the airflow is described as a fluid with irrotational flow. The proposed approach allows to go beyond the usual quasi-steady one-dimensional flow assumption in lumped mass models. The simulation results show that the proposed energy-based model successfully reproduces the oscillations of the vocal folds, including the collision phenomena, and it is useful to analyze the energy exchange between the airflow and the vocal folds.",
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"given": "Flávio Luiz",
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"abstract": "This paper presents a structure-preserving spatial discretization method for distributed parameter port-Hamiltonian systems. The class of considered systems are hyperbolic systems of two conservation laws in arbitrary spatial dimension and geometries. For these systems, a partitioned finite element method (PFEM) is derived, based on the integration by parts of one of the two conservation laws written in weak form. The non-linear one-dimensional shallow-water equation (SWE) is first considered as a motivation example. Then, the method is investigated on the example of the non-linear two-dimensional SWE. Complete derivation of the reduced finite-dimensional port-Hamiltonian system (pHs) is provided and numerical experiments are performed. Extensions to curvilinear (polar) coordinate systems, space-varying coefficients and higher-order pHs (Euler–Bernoulli beam equation) are provided.",
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"abstract": "This paper models and simulates conservative linear acoustic propagation in axisymmetric pipes with time–space-dependent cross-sections. It extends the horn equation to moving-wall bores. The physical equations (partial differential equations) satisfy a power balance, allowing their formulation as a Port-Hamiltonian system. A two-step numerical method is proposed, which preserves mass, momentum and power conservation in discrete domains. Spatial discretization yields a system of Ordinary Differential Equations (ODE) that satisfies known acoustic characteristics for static walls and ensures power-balanced propagation for controlled dynamic walls. Time discretization via the discrete-gradient method results in a discrete time–space model. Simulations validate conservative propagation and resonances for static walls and capture dynamic vocal tract acoustics during articulation.",
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"abstract": "We discuss a class of linear control problems in a Hilbert space setting. This class encompasses such diverse systems as port-Hamiltonian systems, Maxwell's equations with boundary control or the acoustic equations with boundary control and boundary observation. The boundary control and observation acts on abstract boundary data spaces such that the only geometric constraint on the underlying domain stems from requiring a closed range constraint for the spatial operator part, a requirement which for the wave equation amounts to the validity of a Poincare–Wirtinger-type inequality. We also address the issue of conservativity of the control problems under consideration.",
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"given": "Krishna",
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"name": "Electrical Engineering Department, IIT-madras, Chennai, India"
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"given": "Ramkrishna",
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"name": "Electrical Engineering Department, IIT-madras, Chennai, India"
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"given": "Dimitri",
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"name": "HAN University of Applied Sciences, Arnhem, The Netherlands"
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"abstract": "It is well documented that shaping the energy of finite-dimensional port-Hamiltonian systems by interconnection is severely restricted due to the presence of dissipation. This phenomenon is usually referred to as the dissipation obstacle. In this paper, we show the existence of dissipation obstacle in infinite dimensional systems. Motivated by this, we present the Brayton–Moser formulation, together with its equivalent Dirac structure. Analogous to finite dimensional systems, identifying the underlying gradient structure is crucial in presenting the stability analysis. We elucidate this through an example of Maxwell’s equations with zero energy flows through the boundary. In the case of mixed-finite and infinite-dimensional systems, we find admissible pairs for all the subsystems while preserving the overall structure. We illustrate this using a transmission line system interconnected to finite dimensional systems through its boundary. This ultimately leads to a new passive map, using this we solve a boundary control problem, circumventing the dissipation obstacle.",
"container_title": "IMA Journal of Mathematical Control and Information",
"publication_year": "2019",
"volume": "36",
"issue": "2",
"pages": "485--513",
"publisher": "Oxford University Press (OUP)",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.1093/imanum/drac032"
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"type": "journal-article",
"title": "An asymptotic-preserving discretization scheme for gas transport in pipe networks",
"authors": [
{
"given": "H",
"family": "Egger",
"literal": null,
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"affiliation": [
{
"name": "Institute for Numerical Mathematics Johannes Kepler University Linz Altenbergerstraße 69 , 4040 Linz, Austria"
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{
"given": "J",
"family": "Giesselmann",
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"affiliation": [
{
"name": "Department of Mathematics Technical University of Darmstadt , Dolivostraße 15, 64283 Darmstadt, Germany"
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{
"given": "T",
"family": "Kunkel",
"literal": null,
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"affiliation": [
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"name": "Department of Mathematics Technical University of Darmstadt , Dolivostraße 15, 64283 Darmstadt, Germany"
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"given": "N",
"family": "Philippi",
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"name": "Johann Radon Institute for Computational and Applied Mathematics Altenbergerstraße 69 , 4040 Linz, Austria"
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"abstract": "We consider the simulation of barotropic flow of gas in long pipes and pipe networks. Based on a Hamiltonian reformulation of the governing system, a fully discrete approximation scheme is proposed using mixed finite elements in space and an implicit Euler method in time. Assuming the existence of a smooth subsonic solution bounded away from vacuum, a full convergence analysis is presented based on relative energy estimates. Particular attention is paid to establishing error bounds that are uniform in the friction parameter. As a consequence, the method and results also cover the parabolic problem arising in the asymptotic large friction limit. The error estimates are derived in detail for a single pipe, but using appropriate coupling conditions and the particular structure of the problem and its discretization, the main results directly generalize to pipe networks. Numerical tests are presented for illustration.",
"container_title": "IMA Journal of Numerical Analysis",
"publication_year": "2023",
"volume": "43",
"issue": "4",
"pages": "2137--2168",
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"references": [
{
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{
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{
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{
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{
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"doi": "10.1093/imanum/drae008"
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"type": "journal-article",
"title": "Port-Hamiltonian discontinuous Galerkin finite element methods",
"authors": [
{
"given": "Nishant",
"family": "Kumar",
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"affiliation": [
{
"name": "SACS, Applied Mathematics, EEMCS, University of Twente , 7522 NB Enschede, Netherlands"
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"given": "J J W",
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"name": "SACS, Applied Mathematics, EEMCS, University of Twente , 7522 NB Enschede, Netherlands"
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{
"given": "H J",
"family": "Zwart",
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"name": "SACS, Applied Mathematics, EEMCS, University of Twente , 7522 NB Enschede, Netherlands"
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{
"name": "Dynamics and Control group, Mechanical Engineering Department, Eindhoven University of Technology , 5612 AZ Eindhoven, Netherlands"
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"abstract": "A port-Hamiltonian (pH) system formulation is a geometrical notion used to formulate conservation laws for various physical systems. The distributed parameter port-Hamiltonian formulation models infinite dimensional Hamiltonian dynamical systems that have a nonzero energy flow through the boundaries. In this paper, we propose a novel framework for discontinuous Galerkin (DG) discretizations of pH-systems. Linking DG methods with pH-systems gives rise to compatible structure preserving semidiscrete finite element discretizations along with flexibility in terms of geometry and function spaces of the variables involved. Moreover, the port-Hamiltonian formulation makes boundary ports explicit, which makes the choice of structure and power preserving numerical fluxes easier. We state the Discontinuous Finite Element Stokes–Dirac structure with a power preserving coupling between elements, which provides the mathematical framework for a large class of pH discontinuous Galerkin discretizations. We also provide an a priori error analysis for the port-Hamiltonian discontinuous Galerkin Finite Element Method (pH-DGFEM). The port-Hamiltonian discontinuous Galerkin finite element method is demonstrated for the scalar wave equation showing optimal rates of convergence.",
"container_title": "IMA Journal of Numerical Analysis",
"publication_year": "2025",
"volume": "45",
"issue": "1",
"pages": "354--403",
"publisher": "Oxford University Press (OUP)",
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"keywords": [],
"created_date": "2024-04-28",
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"references": [
{
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{
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{
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{
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"abstract": "In this paper, we develop an energy-based dynamical system model driven by a Markov input process to present a unified framework for stochastic thermodynamics predicated on a stochastic dynamical systems formalism. Specifically, using a stochastic dissipativity, losslessness and accumulativity theory, we develop a nonlinear stochastic port-Hamiltonian system model characterized by energy conservation and entropy non-conservation laws that are consistent with statistical thermodynamic principles. In particular, we show that the difference between the average stored system energy and the average supplied system energy for our stochastic thermodynamic model is a martingale with respect to the system filtration, whereas the difference between average system entropy production and the average system entropy consumption is a submartingale with respect to the system filtration. This article is part of the theme issue ‘Thermodynamics 2.0: Bridging the natural and social sciences (Part 2)’.",
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"abstract": "Purpose This study aims to develop a systematic and efficient method for modeling and reducing the computational complexity of the Maxwell equations in 2D. By maintaining the port-Hamiltonian structure in both the full order model (FOM) and reduced-order model (ROM), this approach ensures that the essential dynamical properties are preserved. The ultimate goal is to create a reduced order model that is suitable for rapid simulations, control and analysis in electromagnetic applications, such as waveguides, which involve boundary control and observation, as well as interface discontinuities. Design/methodology/approach This research introduces an ROM procedure for the 2D Maxwell equations within a port-Hamiltonian framework. Using a mixed finite element method, the high-fidelity FOM is generated, which retains the original structure of the Maxwell equations. Model reduction is then achieved through the Loewner framework, allowing for a low-complexity model that is computationally efficient while preserving the port-Hamiltonian properties. A lifting operator is employed to recover the FOM’s internal variables from the reduced model, validating the accuracy of the ROM in reproducing the FOM’s dynamic behavior. Findings The proposed methodology effectively reduces the dimension of the Maxwell system by approximately 35 times, significantly decreasing computational time while maintaining high fidelity in the key output responses. Simulation results demonstrate that the reduced model accurately replicates the full order model’s dynamics and power balance. The approach also highlights the advantages of using a port-Hamiltonian structure for energy tracking, with ROMs exhibiting only minor discrepancies due to truncation. The findings validate the ROM as a reliable and efficient approximation of the original high-dimensional system, suitable for complex electromagnetic configurations. Originality/value This work provides a novel approach to reducing the 2D Maxwell equations within a port-Hamiltonian framework, preserving essential structure and dynamical properties. By leveraging the Loewner framework with a unique focus on passivity preservation, the method offers a practical solution for efficient simulation and control in electromagnetic systems. This ROM methodology, with its reduced computational burden and enhanced accuracy, is valuable for applications in electromagnetic field simulations and control design, where high computational efficiency and structure preservation are critical [1].",
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"title": "Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation",
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{
"identifiers": {},
"citation": "ortega, a passivation approach to power systems stabilization. Proc 4th IFAC Symp Nonlinear Control Systems Design (NOLCOS 98) (1998)"
},
{
"identifiers": {},
"citation": "sarlashkar, Hamilton/Lagrange formalisms in stability analysis of detailed power system models (1996)"
},
{
"identifiers": {},
"citation": "stramigioli, passive output feedback and port interconnection. Proc 4th IFAC Symp Nonlinear Control Systems Design (NOLCOS 98) (1998)"
},
{
"identifiers": {
"doi": "10.1016/0034-4877(94)90038-8"
},
"citation": "Van Der Schaft, A. J. & Maschke, B. M. On the Hamiltonian formulation of nonholonomic mechanical systems. Reports on Mathematical Physics 34, 225–233 (1994)"
},
{
"identifiers": {},
"citation": "van der schaft, the hamiltonian formulation of energy-conserving physical systems with external ports. Archiv fü r Elektronik und Ü bertragungstechnik (1995)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1007/978-94-009-3807-6"
},
"citation": "Libermann, P. & Marle, C.-M. Symplectic Geometry and Analytical Mechanics. (Springer Netherlands, 1987). doi:10.1007/978-94-009-3807-6"
},
{
"identifiers": {},
"citation": "kundur, Power System Stability and Control (1994)"
},
{
"identifiers": {},
"citation": "maschke, interconnection and structure in physical systems' dynamics. Proc 4th IFAC Symp Nonlinear Control Systems Design (NOLCOS 98) (1998)"
},
{
"identifiers": {
"doi": "10.1017/cbo9780511624001"
},
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},
{
"identifiers": {},
"citation": "maschke, an energy based derivation of lyapunov function for forced systems with application to stabilizing control. Proc IFAC World Congress (1999)"
},
{
"identifiers": {
"doi": "10.1016/s0016-0032(92)90049-m"
},
"citation": "Maschke, B. M., Van Der Schaft, A. J. & Breedveld, P. C. An intrinsic hamiltonian formulation of network dynamics: non-standard poisson structures and gyrators. Journal of the Franklin Institute 329, 923–966 (1992)"
},
{
"identifiers": {},
"citation": "khalil, Nonlinear Systems (1996)"
},
{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
},
{
"identifiers": {},
"citation": "ortega, (0)"
}
]
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"doi": "10.1109/acc.2000.878579"
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"type": "proceedings-article",
"title": "Stabilization of food-chain systems using a port-controlled Hamiltonian description",
"authors": [
{
"given": "R.",
"family": "Ortega",
"literal": null,
"source_fields": {
"sequence": "first",
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}
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{
"given": "A.",
"family": "Astolfi",
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}
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{
"given": "G.",
"family": "Bastin",
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}
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{
"given": "H.",
"family": "Rodriguez",
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"abstract": "We consider the problem of output-feedback stabilization of a class of food-chain systems. The design methodology builds upon some developments on passivity-based stabilization of port-controlled Hamiltonian (PCH) systems reported in Ortega et al. (1999) and Maschke et al. (1998). We first write the system dynamics in PCH form, with the Hamiltonian function being the total mass. Then, following the design procedure, we modify the Hamiltonian function to assign a minimum at the desired equilibrium. Finally, to obtain an output feedback scheme, we inject positive damping into the system. We should underscore that, even though, adding positive damping is rather unusual in control applications, here it is naturally suggested by the design methodology. Some simulation results are presented to illustrate the properties of the controller.",
"container_title": "Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)",
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"pages": "",
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{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
"citation": "ortega, New Directions in Nonlinear Observer Design (1999)"
},
{
"identifiers": {},
"citation": "ortega, Energy-shaping of port-controlled Hamiltonian systems by interconnection. CDC 99 (1999)"
},
{
"identifiers": {
"doi": "10.1017/cbo9781139173179"
},
"citation": "Hofbauer, J. & Sigmund, K. Evolutionary Games and Population Dynamics. (1998) doi:10.1017/cbo9781139173179"
},
{
"identifiers": {},
"citation": "schaft, Gain and Passivity Techniques in Nonlinear Control (1999)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
},
{
"identifiers": {},
"citation": "sendo, The Golden Age of Theoretical Ecology (1978)"
},
{
"identifiers": {},
"citation": "bastin, Feedback stabilization with positive control of a class of dissipative mass balance systems. IFAC World Congress (1999)"
},
{
"identifiers": {},
"citation": "maschke, Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation. IEEE Conf Dec and Control (1998)"
},
{
"identifiers": {},
"citation": "(0)"
}
]
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{
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"doi": "10.1109/acc.2000.879169"
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"type": "proceedings-article",
"title": "Time-varying stabilization of nonholonomic Hamiltonian systems via canonical transformations",
"authors": [
{
"given": "K.",
"family": "Fujimoto",
"literal": null,
"source_fields": {
"sequence": "first",
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}
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{
"given": "T.",
"family": "Sugie",
"literal": null,
"source_fields": {
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"abstract": "The paper is concerned with the stabilization of nonholonomic systems in port-controlled Hamiltonian formulae via generalized canonical transformations. A special class of time-varying generalized canonical transformations are introduced which preserves the passivity property. Utilizing this transformation time-varying asymptotically stabilizing controllers for the nonholonomic Hamiltonian systems are derived. The proposed method is a natural generalization of passivity based control since we only employ the feedback which preserves the Hamiltonian structure of the original system.",
"container_title": "Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)",
"publication_year": "2000",
"volume": "",
"issue": "",
"pages": "3269--3273 vol.5",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2002-11-07",
"permalink": "time-varying-stabilization-of-nonholonomic-hamiltonian-systems-via-canonical-transformations",
"references": [
{
"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
},
{
"identifiers": {},
"citation": "Proc 4th NOLCOS IFAC Symp (1998)"
},
{
"identifiers": {},
"citation": "maschke, Port-controlled Hamiltonian systems: modelling origins and system-theoretic properties. IFAC Symp NOLCOS (1992)"
},
{
"identifiers": {
"doi": "10.1007/3-540-76074-1"
},
"citation": "Schaft, A. L2-Gain and Passivity Techniques in Nonlinear Control. Lecture Notes in Control and Information Sciences (Springer Berlin Heidelberg, 1996). doi:10.1007/3-540-76074-1"
},
{
"identifiers": {
"doi": "10.1109/cdc.1995.478917"
},
"citation": "Khennouf, H., Canudas de Wit, C. & van der Schaft, A. J. Preliminary results on asymptotic stabilization of Hamiltonian systems with nonholonomic constraints. Proceedings of 1995 34th IEEE Conference on Decision and Control vol. 4 4305–4310"
},
{
"identifiers": {
"doi": "10.1109/cdc.1994.411344"
},
"citation": "Maschke, B. M. & van der Schaft, A. J. A Hamiltonian approach to stabilization of nonholonomic mechanical systems. Proceedings of 1994 33rd IEEE Conference on Decision and Control vol. 3 2950–2954"
},
{
"identifiers": {},
"citation": "fujimoto, Stabilization of a class of Hamiltonian systems with nonholonomic constraints via canonical transformations. Proc ECC 99 (1999)"
},
{
"identifiers": {
"doi": "10.1016/0167-6911(92)90019-o"
},
"citation": "Pomet, J.-B. Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift. Systems & Control Letters 18, 147–158 (1992)"
},
{
"identifiers": {},
"citation": "fujimoto, Stabilization of a class of Hamiltonian systems with nonholonomic constraints and its experimental evaluation. Proc 38th IEEE Conf on Decision and Control (1999)"
},
{
"identifiers": {
"doi": "10.1016/0034-4877(94)90038-8"
},
"citation": "Van Der Schaft, A. J. & Maschke, B. M. On the Hamiltonian formulation of nonholonomic mechanical systems. Reports on Mathematical Physics 34, 225–233 (1994)"
},
{
"identifiers": {
"doi": "10.1016/0362-546x(86)90086-6"
},
"citation": "van der Schaft, A. J. Stabilization of Hamiltonian systems. Nonlinear Analysis: Theory, Methods & Applications 10, 1021–1035 (1986)"
},
{
"identifiers": {
"doi": "10.1115/1.3139651"
},
"citation": "Takegaki, M. & Arimoto, S. A New Feedback Method for Dynamic Control of Manipulators. Journal of Dynamic Systems, Measurement, and Control 103, 119–125 (1981)"
},
{
"identifiers": {},
"citation": "(0)"
}
]
},
{
"id": "387da788-3c5d-5516-bbae-65f44517ecd1",
"identifiers": {
"doi": "10.1109/acc.2002.1025216"
},
"type": "proceedings-article",
"title": "Trajectory tracking control of nonholonomic Hamiltonian systems via canonical transformations",
"authors": [
{
"given": "K.",
"family": "Fujimoto",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "T.",
"family": "Sugie",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "This paper is devoted to a unified approach to trajectory tracking control of nonholonomic port-controlled Hamiltonian systems via generalized canonical transformations. The key idea is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. This strategy works for both holonomic and nonholonomic port-controlled Hamiltonian systems. A practical design procedure of global tracking controllers for those systems is proposed. This method is a natural extension of the conventional passivity based control and is expected to derive robustly stable control systems.",
"container_title": "Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)",
"publication_year": "2002",
"volume": "",
"issue": "",
"pages": "2818--2823 vol.4",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2003-06-25",
"permalink": "trajectory-tracking-control-of-nonholonomic-hamiltonian-systems-via-canonical-transformations",
"references": [
{
"identifiers": {
"doi": "10.1016/0034-4877(94)90038-8"
},
"citation": "Van Der Schaft, A. J. & Maschke, B. M. On the Hamiltonian formulation of nonholonomic mechanical systems. Reports on Mathematical Physics 34, 225–233 (1994)"
},
{
"identifiers": {},
"citation": "ortega, Proc IEEE CDC 1999 (0)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1109/cdc.1994.411344"
},
"citation": "Maschke, B. M. & van der Schaft, A. J. A Hamiltonian approach to stabilization of nonholonomic mechanical systems. Proceedings of 1994 33rd IEEE Conference on Decision and Control vol. 3 2950–2954"
},
{
"identifiers": {},
"citation": "ortega, Stabilization of port-controlled Hamiltonian systems: Passivity and energy-balancing. Automatica (0)"
},
{
"identifiers": {},
"citation": "maschke, An energy-based derivation of Lyapunov functions for forced systems with application to stabilizing control. Proc IFAC World Congress 1999 (0)"
},
{
"identifiers": {},
"citation": "maschke, Port-controlled Hamiltonian systems: Modeling origins and system-theoretic properties. IFAC Symp Nonlinear Control Systems (1992)"
},
{
"identifiers": {},
"citation": "fujimoto, Stabilization of a class of Hamiltonian systems with nonholonomic constraints and its experimental evaluation. Proc 38th IEEE Conf on Decision and Control (1999)"
},
{
"identifiers": {
"doi": "10.1115/1.3153109"
},
"citation": "Flashner, H. & Skowronski, J. M. Model Tracking Control of Hamiltonian Systems. Journal of Dynamic Systems, Measurement, and Control 111, 656–660 (1989)"
},
{
"identifiers": {
"doi": "10.1109/cdc.1996.572716"
},
"citation": "Astolfi, A. & Schaufelberger, W. State and output feedback stabilization of multiple chained systems with discontinuous control. Proceedings of 35th IEEE Conference on Decision and Control vol. 2 1443–1448"
},
{
"identifiers": {
"doi": "10.1002/(sici)1099-1239(20000415)10:4<243::aid-rnc472>3.0.co;2-p"
},
"citation": "Lefeber, E., Robertsson, A. & Nijmeijer, H. Linear controllers for exponential tracking of systems in chained-form. Int. J. Robust Nonlinear Control 10, 243–263 (2000)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(97)00055-1"
},
"citation": "JIANGdagger, Z.-P. & NIJMEIJER, H. Tracking Control of Mobile Robots: A Case Study in Backstepping**This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor Alberto Isidori under the direction of Editor Tamer Başar. Automatica 33, 1393–1399 (1997)"
},
{
"identifiers": {
"doi": "10.1016/s0167-6911(00)00091-8"
},
"citation": "Fujimoto, K. & Sugie, T. Canonical transformation and stabilization of generalized Hamiltonian systems. Systems & Control Letters 42, 217–227 (2001)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2001.980360"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems and its application to a magnetic levitation system. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) 3388–3393 doi:10.1109/cdc.2001.980360"
},
{
"identifiers": {},
"citation": "fujimoto, General framework of trajectory tracking control of Hamiltonian systems via generalized canonical transformations. Proc 5th IFAC Symp Nonlinear Control Systems (2001)"
},
{
"identifiers": {},
"citation": "khalil, Nonlinear Systems (1992)"
},
{
"identifiers": {
"doi": "10.1109/9.746253"
},
"citation": "Zhong-Ping Jiang & Nijmeijer, H. A recursive technique for tracking control of nonholonomic systems in chained form. IEEE Trans. Automat. Contr. 44, 265–279 (1999)"
}
]
},
{
"id": "f8a7f1c5-bdd7-559e-a6fa-c39c1ad71771",
"identifiers": {
"doi": "10.1109/acc.2006.1656364"
},
"type": "proceedings-article",
"title": "Control of mechatronic systems by dissipative devices: application to semi-active vehicle suspensions",
"authors": [
{
"given": "R.",
"family": "Morselli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "R.",
"family": "Zanasi",
"literal": null,
"source_fields": {
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"affiliation": []
}
}
],
"abstract": "A wide variety of mechatronic systems are controlled by operating dissipative components such as variable resistors, variable dampers, clutches, some electro-valves and more. Facing the limitation that the controlled devices can only dissipate power, the issue is to find a proper control law to satisfy the control requirements. The mechatronic systems can usually be divided into two or more subsystems that are connected by a power preserving connections. This paper proposes to choose the control inputs to lead the power towards a certain subsystems in order to satisfy the requirements by controlling the energy stored or the power dissipated in that subsystem. To this aim, the port Hamiltonian framework is used to model the mechatronic systems. A slight extension of the definition of port Hamiltonian system is proposed to allow the description of a larger set of mechatronic systems and to obtain an explicit representation of the energy flowing to a subsystem. Some of the control laws presented in literature about the control of semi-active suspensions are derived again by following the proposed approach and adding an energetic interpretation",
"container_title": "2006 American Control Conference",
"publication_year": "2006",
"volume": "",
"issue": "",
"pages": "6 pp.",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2006-08-02",
"permalink": "control-of-mechatronic-systems-by-dissipative-devices-application-to-semi-active-vehicle-suspensions",
"references": [
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1016/j.matcom.2003.11.002"
},
"citation": "Breedveld, P. C. Port-based modeling of mechatronic systems. Mathematics and Computers in Simulation vol. 66 99–128 (2004)"
},
{
"identifiers": {},
"citation": "karnopp, Systems dynamics U unified approach (2000)"
},
{
"identifiers": {
"doi": "10.1016/0034-4877(94)90038-8"
},
"citation": "Van Der Schaft, A. J. & Maschke, B. M. On the Hamiltonian formulation of nonholonomic mechanical systems. Reports on Mathematical Physics vol. 34 225–233 (1994)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2003.1272955"
},
"citation": "Savaresi, S. M., Silani, E., Bittanti, S. & Porciani, N. On performance evaluation methods and control strategies for semi-active suspension systems. 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) vol. 3 2264–2269"
},
{
"identifiers": {},
"citation": "garcia-canseco, On control by interconnection of port Hamiltonian systems. Proceedings of the 16th IFAC world congress (2005)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tcst.2004.833628"
},
"citation": "Perez, M., Ortega, R. & Espinoza, J. Passivity-Based PI Control of Switched Power Converters. IEEE Transactions on Control Systems Technology vol. 12 881–890 (2004)"
}
]
},
{
"id": "36033988-2765-5592-afb8-e8c9ab6735a7",
"identifiers": {
"doi": "10.1109/acc.2006.1656489"
},
"type": "proceedings-article",
"title": "Energy-based modelling and simulation of the interconnection of a back-to-back converter and a doubly-fed induction machine",
"authors": [
{
"given": "C.",
"family": "Batlle",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "A.",
"family": "Doria-Cerezo",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "This paper describes the port interconnection of two subsystems: a power electronics subsystem (a back-to-back AC/AC converter (B2B), coupled to a phase of the power grid), and an electromechanical subsystem (a doubly-fed induction machine (DFIM). The B2B is a variable structure system (VSS), due to the presence of control-actuated switches; however, from a modelling and simulation, as well as a control-design, point of view, it is sensible to consider modulated transformers (MTF in the bond graph language) instead of the pairs of complementary switches. The port-Hamiltonian models of both subsystems are presented and, using a power-preserving interconnection, the Hamiltonian description of the whole system is obtained; detailed bond graphs of all subsystems and the complete system are also provided. Using passivity-based controllers computed in the Hamiltonian formalism for both subsystems, the whole model is simulated; simulations are run to test the correctness and efficiency of the Hamiltonian network modelling approach used in this work",
"container_title": "2006 American Control Conference",
"publication_year": "2006",
"volume": "",
"issue": "",
"pages": "6 pp.",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2006-08-03",
"permalink": "energy-based-modelling-and-simulation-of-the-interconnection-of-a-back-to-back-converter-and-a-doubly-fed-induction-machine",
"references": [
{
"identifiers": {
"doi": "10.1007/3-540-45802-6_11"
},
"citation": "Griñó, R., Fossas, E. & Biel, D. Sliding mode control of a full-bridge unity power factor rectifier. Lecture Notes in Control and Information Sciences 139–148 doi:10.1007/3-540-45802-6_11"
},
{
"identifiers": {
"doi": "10.1109/iccdcs.1995.499122"
},
"citation": "Delgado, M. & Sira-Ramirez, H. Modeling and simulation of switch regulated dc-to-dc power converters of the boost type. Proceedings of First International Caracas Conference on Devices, Circuits and Systems 84–88 doi:10.1109/iccdcs.1995.499122"
},
{
"identifiers": {
"doi": "10.1109/cdc.2005.1582192"
},
"citation": "Batlle, C., Doria-Cerezo, A. & Fossas, E. IDA-PBC controller for a bidirectional power flow full-bridge rectifier. Proceedings of the 44th IEEE Conference on Decision and Control 422–426 doi:10.1109/cdc.2005.1582192"
},
{
"identifiers": {
"doi": "10.1016/s0967-0661(02)00285-x"
},
"citation": "Peresada, S., Tilli, A. & Tonielli, A. Power control of a doubly fed induction machine via output feedback. Control Engineering Practice vol. 12 41–57 (2004)"
},
{
"identifiers": {},
"citation": "krause, Analysis of Electric Machine (1986)"
},
{
"identifiers": {
"doi": "10.1049/ip-epa:19960288"
},
"citation": "Pena, R., Clare, J. C. & Asher, G. M. Doubly fed induction generator using back-to-back PWM converters and its application to variable-speed wind-energy generation. IEE Proceedings - Electric Power Applications vol. 143 231 (1996)"
},
{
"identifiers": {},
"citation": "caratozzolo, Dynamic modeling of an isolated motion system with DFIG. Proc CIEP (2000)"
},
{
"identifiers": {},
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"title": "Dynamic model of an electro-hydraulic three point hitch",
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"given": "R.",
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"abstract": "This paper proposes a dynamic model of an electro-hydraulic three point hitch for farm tractors. The modeling technique is based on the Hamiltonian system framework and on power-port interaction between subsystems. The model allows fast and precise simulations and therefore can be used for the development and the validation of control strategies by simulations and hardware in the loop experiments. The proposed model has been validated comparing the simulation results with experimental measurements",
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"abstract": "This paper is concerned with nonlinear model reduction for electro-mechanical systems described by port-Hamiltonian formulae. A novel weighted balanced realization and model reduction procedure is proposed which preserves port-Hamiltonian structure as well as stability, reachability and observability of the original system. This implies that one can utilize the intrinsic physical properties such as physical energy and the corresponding dissipativity for the reduced order model. Further, the proposed method reduces the computational effort in solving partial differential equations for nonlinear balanced realization. A numerical simulation shows how the proposed method works.",
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{
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.1109/acc.2008.4586483"
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"title": "L<inf>2</inf>-gain of Port-Hamiltonian systems and application to a biochemical fermenter model",
"authors": [
{
"given": "Jorgen K.",
"family": "Johnsen",
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{
"given": "Florian",
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{
"given": "Frank",
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"abstract": "We consider the Lscr2-gain of nonlinear Port-Hamiltonian systems. Using the Hamiltonian and an additional scaling matrix, we show that an upper bound on the Lscr2-gain can be computed by solving a matrix inequality. The Lscr2-gain is typically used in combination with the small-gain theorem. In particular it can be used to guarantee robust stability with respect to gain-bounded model uncertainties. This application of the Lscr2-gain is demonstrated with a biochemical fermentation process where the specific cell growth rate is unknown but contained in a parameter interval.",
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"pages": "153--158",
"publisher": "IEEE",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
"identifiers": {
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},
{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002)"
},
{
"identifiers": {
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},
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},
{
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"doi": "10.1109/acc.2008.4586656"
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"type": "proceedings-article",
"title": "Finite-time stabilization of Port-Controlled Hamiltonian systems with application to nonlinear affine systems",
"authors": [
{
"given": null,
"family": "Yuzhen Wang",
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{
"given": "Gang",
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"abstract": "The finite-time stabilization of nonlinear Port-Controlled Hamiltonian (PCH) systems is investigated in this paper, and a number of approaches to the finite-time control design are proposed. Based on a finite-time stability criterion and the so-called \"energy shaping plus damping injection\" technique, the continuous finite-time stabilization problem is studied for the PCH systems, and several global stabilization results are obtained. Via Hamiltonian realization, the results obtained for the Hamiltonian systems are applied to investigate continuous finite-time stabilization of nonlinear affine systems, and several global control design results are presented. Study on several examples shows that the control design approaches developed in this paper work very well.",
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"issue": "",
"pages": "1202--1207",
"publisher": "IEEE",
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{
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{
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{
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"type": "proceedings-article",
"title": "Control by damping injection of electrodynamic tether system in an inclined orbit",
"authors": [
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"given": "Martin Birkelund",
"family": "Larsen",
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"abstract": "Control of a satellite system with an electrodynamic tether as actuator is a time-periodic and underactuated control problem. This paper considers the tethered satellite in a Hamiltonian framework and determines a port-controlled Hamiltonian formulation that adequately describes the nonlinear dynamical system. Based on this model, a nonlinear controller is designed that will make the system asymptotically stable around its open-loop equilibrium. The control scheme handles the time-varying nature of the system in a suitable manner resulting in a large operational region. The performance of the closed loop system is treated using Floquet theory, investigating the closed loop properties for their dependency of the controller gain and orbit inclination.",
"container_title": "2009 American Control Conference",
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"issue": "",
"pages": "4824--4829",
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{
"identifiers": {
"doi": "10.1007/bf03546266"
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"citation": "PeláEz, J., Lorenzini, E. C., LóPez-Rebollal, O. & Ruiz, M. A New Kind of Dynamic Instability in Electrodynamic Tethers. J of Astronaut Sci 48, 449–476 (2000)"
},
{
"identifiers": {
"doi": "10.1016/j.paerosci.2007.08.002"
},
"citation": "Cartmell, M. P. & McKenzie, D. J. A review of space tether research. Progress in Aerospace Sciences 44, 1–21 (2008)"
},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "beletsky, dynamics of space tether systems. ser Advances in the astronautical sciences (1993)"
},
{
"identifiers": {
"doi": "10.2514/1.21882"
},
"citation": "Zhou, X., Li, J., Baoyin, H. & Zakirov, V. Equilibrium Control of Electrodynamic Tethered Satellite Systems in Inclined Orbits. Journal of Guidance, Control, and Dynamics 29, 1451–1454 (2006)"
},
{
"identifiers": {
"doi": "10.2514/1.17530"
},
"citation": "Williams, P. Energy Rate Feedback for Libration Control of Electrodynamic Tethers. Journal of Guidance, Control, and Dynamics 29, 221–223 (2006)"
},
{
"identifiers": {
"doi": "10.2514/1.6473"
},
"citation": "Pelaez, J. & Lorenzini, E. C. Libration Control of Electrodynamic Tethers in Inclined Orbit. Journal of Guidance, Control, and Dynamics 28, 269–279 (2005)"
},
{
"identifiers": {
"doi": "10.1109/med.2007.4433876"
},
"citation": "Larsen, M. B. & Blanke, M. Nonlinear control of electrodynamic tether in equatorial or somewhat inclined orbits. 2007 Mediterranean Conference on Control & Automation 1–6 (2007) doi:10.1109/med.2007.4433876"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
"citation": "Williams, P. Optimal Orbit Transfer with Electrodynamic Tether. Journal of Guidance, Control, and Dynamics 28, 369–372 (2005)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
}
]
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"type": "proceedings-article",
"title": "Stabilization of multimachine power systems via hybrid control",
"authors": [
{
"given": "Qing",
"family": "Hui",
"literal": null,
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}
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{
"given": "Wei",
"family": "Qiao",
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"abstract": "An energy-based hybrid control framework for stabilization of multimachine power systems is proposed as a means to enhance transient stability of power systems. This approach is based on energy representation of power systems by using port-controlled Hamiltonian forms. The controllers utilize logic-based switching to enhance energy dissipation for the synchronous generators. This paper develops general energy dissipating excitation control design and stabilization results for such controllers.",
"container_title": "2009 American Control Conference",
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"issue": "",
"pages": "2110--2115",
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{
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{
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{
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{
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{
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},
{
"id": "ff2db798-2201-588a-8e0a-81954f86c9fb",
"identifiers": {
"doi": "10.1109/acc.2009.5160232"
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"type": "proceedings-article",
"title": "Global asymptotic and finite-gain L<inf>2</inf> stabilization of port-controlled Hamiltonian systems subject to actuator saturation",
"authors": [
{
"given": "Weiwei",
"family": "Sun",
"literal": null,
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"affiliation": []
}
},
{
"given": "Zongli",
"family": "Lin",
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{
"given": "Yuzhen",
"family": "Wang",
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"abstract": "",
"container_title": "2009 American Control Conference",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "1894--1898",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2009-07-20",
"permalink": "global-asymptotic-and-finite-gain-l-lt-inf-gt-2-lt-inf-gt-stabilization-of-port-controlled-hamiltonian-systems-subject-to-actuator-saturation",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
"citation": "Wang, Y., Feng, G. & Cheng, D. Simultaneous stabilization of a set of nonlinear port-controlled Hamiltonian systems. Automatica 43, 403–415 (2007)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1080/0020717042000196254"
},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2001.914715"
},
"citation": "Shen, T., Ortega, R., Lu, Q., Mei, S. & Tamura, K. Adaptive L/sub 2/ disturbance attenuation of Hamiltonian systems with parametric perturbation and application to power systems. Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) vol. 5 4939–4944"
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{
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},
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
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},
{
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},
{
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},
{
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},
{
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},
{
"identifiers": {
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}
]
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"id": "af28997c-a45d-5d13-9ff2-b227da6e45f6",
"identifiers": {
"doi": "10.1109/acc.2009.5160619"
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"type": "proceedings-article",
"title": "On stability of time delay Hamiltonian systems",
"authors": [
{
"given": "Ramkrishna",
"family": "Pasumarthy",
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{
"given": "Chung-Yao",
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"abstract": "Stability of a class of nonlinear systems, called port-Hamiltonian systems, in the presence of time delay in the communication between the plant and controller is studied. The delay parameter is an unknown function which varies with time and for which the upper bounds on the magnitude and variation are known. The presence of delay may destroy the port-Hamiltonian structure of the system. Because of this, stability of the time delay systems is not obvious. We thus propose a theory to test the stability of port-Hamiltonian systems with time delay. The stability problem considered here, relies on the construction of a Lyapunov-Krasovskii (LK) functional based on the Hamiltonian of the port-Hamiltonian system. Based on the LK functional, we derive some sufficient conditions for the system to be asymptotically stable in presence of uncertain delays.",
"container_title": "2009 American Control Conference",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "4909--4914",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2009-07-20",
"permalink": "on-stability-of-time-delay-hamiltonian-systems",
"references": [
{
"identifiers": {
"doi": "10.1007/978-1-4612-0039-0"
},
"citation": "Gu, K., Kharitonov, V. L. & Chen, J. Stability of Time-Delay Systems. (Birkhäuser Boston, 2003). doi:10.1007/978-1-4612-0039-0"
},
{
"identifiers": {},
"citation": "garcia-canseco, on control by interconnection of port-hamiltonian systems. 16th IFAC World Congress (2005)"
},
{
"identifiers": {},
"citation": "prajna, introducing sostools: a general purpose sum of squares programming solver. Proc 41st IEEE Conference on Decision and Control (2004)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2005.1583318"
},
"citation": "Fridman, E. & Shaked, U. Stability and L>inf<2>/inf<—Gain Analysis of Systems with Time-Varying Delays: Input-Output Approach. Proceedings of the 44th IEEE Conference on Decision and Control 7175–7180 doi:10.1109/cdc.2005.1583318"
},
{
"identifiers": {
"doi": "10.1080/002071799221172"
},
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},
{
"identifiers": {
"doi": "10.1007/978-94-015-8084-7"
},
"citation": "Kolmanovskii, V. & Myshkis, A. Applied Theory of Functional Differential Equations. (Springer Netherlands, 1992). doi:10.1007/978-94-015-8084-7"
},
{
"identifiers": {
"doi": "10.1109/9.920802"
},
"citation": "Jin-Hoon Kim. Delay and its time-derivative dependent robust stability of time-delayed linear systems with uncertainty. IEEE Transactions on Automatic Control vol. 46 789–792 (2001)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2006.12.006"
},
"citation": "Kao, C.-Y. & Rantzer, A. Stability analysis of systems with uncertain time-varying delays. Automatica vol. 43 959–970 (2007)"
},
{
"identifiers": {
"doi": "10.23919/acc.2004.1383959"
},
"citation": "Papachristodoulou, A. Analysis of nonlinear time-delay systems using the sum of squares decomposition. Proceedings of the 2004 American Control Conference 4153–4158 vol.5 (2004) doi:10.23919/acc.2004.1383959"
},
{
"identifiers": {
"doi": "10.1016/s0167-6911(00)00093-1"
},
"citation": "Mazenc, F. & Niculescu, S.-I. Lyapunov stability analysis for nonlinear delay systems. Systems & Control Letters vol. 42 245–251 (2001)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(03)00167-5"
},
"citation": "Richard, J.-P. Time-delay systems: an overview of some recent advances and open problems. Automatica vol. 39 1667–1694 (2003)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
}
]
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"id": "b111f192-76b2-51a7-80bd-f4a81e5d3931",
"identifiers": {
"doi": "10.1109/acc.2010.5531100"
},
"type": "proceedings-article",
"title": "Passivity based trajectory tracking control with predefined local linear error dynamics",
"authors": [
{
"given": "Paul",
"family": "Kotyczka",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Alexander",
"family": "Volf",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Boris",
"family": "Lohmann",
"literal": null,
"source_fields": {
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"abstract": "In this contribution a new systematic approach is presented to achieve desired local linear error dynamics for trajectory tracking of a nonlinear plant, where passivity based control by interconnection and damping assignment (IDA-PBC) is used to stabilize the error dynamics. Especially in the tracking case the solvability of the matching PDEs may restrict a state-independent dissipation matrix for the resulting time-varying port-Hamiltonian (pH) closed loop system to be singular. This in turn may impede to prove stability with the closed loop energy as a time-varying Lyapunov function. As a consequence an extension of the approach of local linear dynamics assignment for the resulting pH system, which has been introduced in a previous paper, is proposed. A factorization of the state- and time-dependent design matrix can ensure complete damping of the closed loop system, while the principal part of the matching PDEs remains state-independent to simplify the solvability conditions and the solution itself. The application of the approach is presented with the magnetic levitation experiment, including the estimation and optimization of the domain of attraction.",
"container_title": "Proceedings of the 2010 American Control Conference",
"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "3429--3434",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2014-07-16",
"permalink": "passivity-based-trajectory-tracking-control-with-predefined-local-linear-error-dynamics",
"references": []
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"abstract": "Taking in mind that the lost of the passivity property under sampling reflects into the degradation of the stabilizing performances of emulated controllers, this paper is a first attempt to the sampled-data version of the interconnection and damping assignment-passivity based controllers (IDA-PBC). A sampled-data controller, preserving asymptotically the energetic behavior of a target dynamics and achieving stabilization to a suitable equilibrium is described for Hamiltonian dynamics. A mechanical case study illustrates the results in a comparative perspective.",
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"abstract": "It is well known that the power conserving interconnection of finite dimensional port-Hamiltonian systems is also a port-Hamiltonian system. Given a linear port Hamiltonian system, this paper proposes conditions under which the control system can be expressed as a composition of two linear port-Hamiltonian systems. This decomposition of linear port-Hamiltonian systems is based on the inherent interconnection structure and can be applied without knowledge of the physical interconnection structure.",
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"given": "D. A.",
"family": "Dirksz",
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"abstract": "In this paper a standard notch filter is modeled in the port-Hamiltonian framework. By having such a port-Hamiltonian description it is proven that the notch filter is a passive system. The notch filter can then be interconnected with another (nonlinear) port-Hamiltonian system, while preserving the overall passivity property. By doing so we can combine a frequency-based control method, the notch filter, with the nonlinear control methodology of passivity-based control.",
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"abstract": "This paper proposes an extensive connection between passivity based control and inventory control in the Port Hamiltonian framework to stabilize a non-isothermal reactor. This homogeneous multi-reaction system is described by ordinary differential equations with affine inputs. Numerical simulations for the first order reaction system with multiple steady states support the theoretical development. A generalization to chemical reaction networks without specifying reaction kinetics is also presented.",
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"abstract": "The Interconnection and Damping Assignment passivity-based control method for port-controlled Hamiltonian systems is discussed. We propose a novel construction which exploits the notion of algebraic solution of the so-called matching equation. The latter notion is instrumental in constructing an energy function defined on an extended state-space without involving the solution of any partial differential equation. This results, differently from the classical solution, in a dynamic state feedback that stabilizes a desired equilibrium point. Finally we show that, in the linear time-invariant case and under standard assumptions, the proposed methodology provides the standard passivity-based controller.",
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"type": "proceedings-article",
"title": "A globally exponentially stable tracking controller for mechanical systems using position feedback",
"authors": [
{
"given": "Jose Guadalupe",
"family": "Romero",
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"given": "Ioannis",
"family": "Sarras",
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"abstract": "A solution to the problem of global exponential tracking of mechanical systems without velocity measurements is given in the technical note. The proposed controller is obtained combining a redesign of the recently reported exponentially stable immersion and invariance velocity observer and a new state-feedback passivity-based controller, which assigns to the closed-loop a port-Hamiltonian structure with a desired energy function. The result is applicable to a large class of mechanical systems including those with unbounded inertia matrix and possible presence of friction forces. Unlike previous results that rely on the presence-exact knowledge and pervasiveness-of these forces, our design treats them as disturbances, which are suitably compensated.",
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"title": "Nonlinear observer and Lyapunov-based control for SEPIC converter: design and experimental results",
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"abstract": "This paper presents a nonlinear observer based control of a Single Ended Primary Inductor Converter. A Lyapunov-based control law of the voltage output is proposed. This control law has the property to be simple to implement. The proposed technique uses a nonlinear observer of an averaged model of the converter. The asymptotic stability of the observer error is shown using port Hamiltonian formalism. Stability of the closed loop, including the observer and the control law, is discussed. The proposed observer and control law were validated in simulation and experimentation.",
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"doi": "10.1109/acc.2015.7170774"
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"type": "proceedings-article",
"title": "Robust PI passivity-based control of nonlinear systems: Application to port-Hamiltonian systems and temperature regulation",
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"name": "Department of Control Systems and Informatics, ITMO University, Kronverkskiy av. 49, Saint Petersburg, 197101, Russia"
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"name": "LSS-Supelec, 3, Rue Joliot-Curie, 91192 Gif-sur-Yvette, France"
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"abstract": "This paper deals with the problem of control of partially known nonlinear systems, which have an open-loop stable equilibrium, but we would like to add a PI controller to regulate its behavior around another operating point. Our main contribution is the identification of a class of systems for which a globally stable PI can be designed knowing only the systems input matrix and measuring only the actuated coordinates. The construction of the PI is done invoking passivity theory. The difficulties encountered in the design of adaptive PI controllers with the existing theoretical tools are also discussed. As an illustration of the theory, we consider port-Hamiltonian systems and a class of thermal processes.",
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"given": "Mutaz",
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"abstract": "Interconnection and damping assignment passivity based control (IDA-PBC) has gained increasing popularity. In this paper, we propose constructive results on integral IDA-PBC and PID-type controllers for a class of port-controlled Hamiltonian (PCH) systems. The results extend some existing methods and address a new framework that allows the implementation of integral action control to under-actuated PCH systems that are quite commonly found in practice. Application of the results to control a Quanser inertia wheel pendulum is provided.",
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"pages": "5365--5370",
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{
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{
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{
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{
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"identifiers": {
"doi": "10.1109/acc.2016.7525380"
},
"type": "proceedings-article",
"title": "Port-Hamiltonian control of a brachiating robot via generalized canonical transformations",
"authors": [
{
"given": "Keivan",
"family": "Ebrahimi",
"literal": null,
"source_fields": {
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"affiliation": []
}
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{
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"abstract": "This paper is devoted to the design of a port Hamiltonian controller for different scenarios of brachiation movement by a two-link bio-inspired robot called brachiating robot. A unified technique for trajectory tracking control problem of nonholonomic (drift-less) port Hamiltonian systems was introduced in the past, which exploits a generalized canonical transformation to form an error system in order to convert the trajectory tracking problem into a stabilization one. Although the method is novel and promising, only fully actuated systems are considered and success of the approach relies on the possibility of solving a set of partial differential equations (PDEs). Considering the fact that the brachiating robot is an underactuated system which suffers from lack of control input, the control problem is demanding and solving the PDEs remains the main stumbling block for an applicability of the aforementioned technique to our problem. By exploiting insight to the intrinsic properties of the underactuated system and using some math tricks, we solve the PDEs explicitly and shape the kinetic and potential energy of the brachiating robot within the port Hamiltonian framework so that the brachiating maneuver is performed efficiently and without any redundant backward movements. Furthermore, the trajectory tracking control is proved thanks to the passivity property of the system. This paper opens up the way to deal with underactuated control problems in a different and broader framework and the method demonstrates promising outcomes in the analysis and simulation as will be showed here.",
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"publication_year": "2016",
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"issue": "",
"pages": "3026--3031",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2016-08-05",
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{
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},
{
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{
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"identifiers": {
"doi": "10.1109/acc.2016.7526747"
},
"type": "proceedings-article",
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"authors": [
{
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"family": "Runolfsson",
"literal": null,
"source_fields": {
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],
"abstract": "In this paper we present a unified framework for modeling the dynamics of electrical energy systems that accounts for the dynamics of all elements of the systems, including generators, electrical network and loads. The approach is based on port-Hamiltonian system formulation and allows for a bidirectional flow of energy. A change of coordinates is introduced where the system admits constant operating points and all system components are modeled as time-invariant systems. Consequently, traditional methods for analysis and control of the system are applicable. The formulation is general enough to allow for a large class of uncontrolled and controlled dynamic loads.",
"container_title": "2016 American Control Conference (ACC)",
"publication_year": "2016",
"volume": "",
"issue": "",
"pages": "6827--6832",
"publisher": "IEEE",
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"created_date": "2016-08-04",
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"type": "journal-article",
"title": "The Ghost Operator and Its Applications to Reveal the Physical Meaning of Reactive Power for Electrical and Mechanical Systems and Others",
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{
"given": "Qing-Chang",
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"abstract": "In science and engineering, many concepts are introduced without a clear physical meaning, e.g., imaginary numbers in mathematics and reactive power in electrical engineering. In this paper, a new operator, coined the ghost operator $g$ , is introduced to physically construct the ghost of a system. It satisfies $g^{2}=-1$ but is different from the imaginary operator. With the help of the port-Hamiltonian systems theory, it is proved that the ghost of a system behaves exactly in the opposite way as the original system. This brings the ghost of a system into reality and paves the way to reveal the physical meaning of some imaginary concepts. Two applications are given as an example. One is to reveal the physical meaning of reactive power in electrical systems: it is the (real) power of the ghost system, which leads to a significantly simplified instantaneous power theory called the ghost power theory. The other is to define the reactive power for mechanical systems to complete the electrical–mechanical analogy. As a matter of fact, the resulting instantaneous power theory is generic and applicable to any dynamic system that can be described by the port-Hamiltonian model.",
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"abstract": "Power swings may cause power system instability; therefore, hybrid energy storage systems (HESSs) are necessary to smooth the output of wind farms. Superconducting magnetic energy storage (SMES) systems have a high power density, whereas battery energy storage systems (BESSs) provide a high energy density. The significant contribution of this paper is the proposal of hierarchical control strategies for an HESS composed of an SMES system and a BESS. Mathematical models and port-controlled Hamiltonian (PCH) models of the HESS are established. At the device level, a novel HESS control strategy based on the PCH models is proposed to improve its output performance. At the system level, a multilevel power allocation method based on empirical mode decomposition, Fuzzy control and advanced control is proposed to achieve an efficient grid connection for a wind farm; the grid connection considers the real-time and future state of charge of the SMES system and BESS. The effectiveness of the proposed strategies are verified through simulation studies.",
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"abstract": "This paper presents a novel nonlinear control strategy for a superconducting magnetic energy storage (SMES) system during network unbalance. Grid voltage unbalances tend to substantially degrade the operation of a SMES system; conventional control methods cannot completely address this issue. In this paper, three selectable control targets for the SMES are identified according to the working principle of the SMES under an unbalanced voltage condition to reduce the impacts of second harmonics in output power, output reactive power, and grid-side current. Next, the port-controlled Hamiltonian models of the SMES are established, and the positive- and negative-sequence interconnection and damping assignment passivity-based control (PBC) strategies are proposed accordingly. Simulation results show that the PBC has stronger robustness in both steady and dynamic states compared with the conventional proportional integral method, which effectively suppresses the oscillations caused by the unbalanced voltage.",
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"type": "journal-article",
"title": "Port-Controlled Hamiltonian and Sliding Mode Control of Gantry Robot Based on Induction Motor Drives",
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"abstract": "A port-controlled Hamiltonian (PCH) control approach is presented to solve the position tracking problem of gantry robot based on induction motor (IM) drives. First, a robot model is established. Second, a PCH controller is designed to realize accurate position tracking of a gantry robot. For IM drives, it is convenient to choose a direct torque control strategy based on the sliding mode control, which overcomes the higher ripples of torque and flux. Third, a voltage reconstruction technique is introduced to calculate the stator voltage of the IM, which replaces the stator voltage measurement of the IM. Finally, the load torque observer is developed to estimate an unknown load torque. The asymptotic stability of the robot system is proved by the Lyapunov stability theory. Simulation results indicate that the system has excellent position tracking performances and load disturbance attenuation ability.",
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"abstract": "The surface permanent magnet synchronous motor (SPMSM) speed regulation system is easily affected by the inner parameter perturbation and the external load disturbance at run time. To solve this problem, the ${H_\\infty }$ robust control strategy is proposed in this paper. First, given the systematic uncertainties, the ${H_\\infty }$ robust current controller based on the Hamilton–Jacobi Inequality is designed to ensure the robustness of current control under the SPMSM nominal mathematical model. This model is expressed as the port-controlled Hamiltonian with the dissipation form; second, the linear matrix inequality-based ${H_\\infty }$ sliding surface and the sliding control law are designed under the extended state space expression of the SPMSM motion equation. Thereby, the robust ${H_\\infty }$ sliding mode speed controller is acquired, thus realizing the robustness of speed control and improving the dynamic characteristics of the system. Finally, the effectiveness and availability of the proposed control strategy are verified by the hardware-in-the-loop simulation experiment.",
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"title": "A Novel Speed Control Method Based on Port-Controlled Hamiltonian and Disturbance Observer for PMSM Drives",
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"abstract": "This paper is mainly focusing on the problem of speed tracking control for permanent magnet synchronous motor (PMSM) drive system subject to matched and mismatched disturbance. This is achieved by a novel Port-Controlled Hamiltonian control method with nonlinear disturbance observer. Different from the traditional speed-current cascade control for PMSM, the speed-current single loop controller is designed. Firstly, the Port-Controlled Hamiltonian model of PMSM is established, then the Hamiltonian speed controller is designed by using interconnection assignment and damping assignment method. However, the standard Hamiltonian controller cannot achieve the satisfying behavior in the presence of the parameter variations and external disturbance, thus a nonlinear disturbance observer is designed to estimate the lump disturbance of the system, which is used to the feed-forward compensation control. Finally, simulation and experiment on the speed control system of PMSM are implemented. The results show that the proposed method has fast speed control performance and strong robustness for the different disturbance.",
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"identifiers": {
"doi": "10.1109/access.2019.2939871"
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"type": "journal-article",
"title": "An Accurate Forced Oscillation Location and Participation Assessment Method for DFIG Wind Turbine",
"authors": [
{
"given": "Jiaxing",
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"abstract": "With the integration of wind energy, the widely used doubly fed induction generator wind turbines (DFIG-WT) could induce Power System forced oscillations (FOs), which threaten the safety of power grid. In this paper, an accurate FOs location method is proposed to pinpoint sources of FOs to the specific components inside a DFIG-WT and a participation assessment method is proposed to evaluate the role of DFIG-WTs in the FOs event. Firstly, the energy structure of the DFIG-WT is constructed and the correspondence between the physical components and energy structure of the DFIG-WT is established. Thus, the sources of FOs can be located by the energy flow among the converter, wind turbine and induction generator. Furthermore, the port-controlled Hamiltonian (PCH) method is used to analyze the influence of external disturbances to the potential energy of DFIG-WT, based on which the participation factor of the DFIG-WT in FOs event can be defined. The simulation results demonstrate that the proposed method is able to locate the oscillation sources accurately and reveal the participation of the DFIG-WT in FOs events effectively.",
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"volume": "7",
"issue": "",
"pages": "130505--130514",
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{
"identifiers": {
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},
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},
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{
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{
"identifiers": {
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},
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"doi": "10.1109/access.2020.2979352"
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"type": "journal-article",
"title": "Adaptive Disturbance Attenuation Control of Two Tank Liquid Level System With Uncertain Parameters Based on Port-Controlled Hamiltonian",
"authors": [
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"given": "Tao",
"family": "Xu",
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"given": "Haisheng",
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"given": "Jinpeng",
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"abstract": "This paper investigates the problem of the level control for two tank liquid level system(TTLLS) with parametric uncertainties and lumped disturbances. It is achieved by a novel adaptive disturbance attenuation control method based on the Port-Controlled Hamiltonian (PCH) model. Firstly, the model of TTLLS is established according to the mass balance principle and the PCH model is achieved. Based on the PCH model, the PCH controller of TTLLS is designed and the stability of the closed-loop system is ensured. To reduce the impact of disturbances and unmeasurable parameters, adaptive $L_{2}$ disturbance attenuation technology is integrated. To achieve the robustness and simplify the calculation, the parameter estimation vector is designed by splitting complex mathematical expressions. Utilizing the properties of the PCH method and merits of the adaptive disturbance attenuation technology, the integrated controller achieves good performance. Moreover, simulation and experimental results are given to show the effectiveness and strong robustness of the proposed control algorithm.",
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"publication_year": "2020",
"volume": "8",
"issue": "",
"pages": "47384--47392",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"keywords": [],
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"doi": "10.1109/access.2020.2994137"
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"type": "journal-article",
"title": "L2 Disturbance Suppression Controller Design for Multiple Time Delays Offshore Wind Turbines",
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"given": "Zhen",
"family": "Tang",
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"given": "Bing",
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"given": "Xiang",
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"given": "Weiyang",
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"abstract": "With the large-scale development of offshore wind power and the rapid development of smart grid, more and more attention has been paid to the stable operation of wind turbines under various conditions. In the actual operation process of wind turbines, there are inevitably many kinds of uncertain time delays, and also external or parameter disturbances, which affect the stable operation of wind turbines and make the system deviate from the original stable state. Based on Hamiltonian energy theory, the disturbance rejection of doubly fed wind turbines with multiple time delays is studied in this paper. Firstly, the doubly fed wind turbine is Hamiltonian realized to obtain its port controlled Hamiltonian with dissipation(PCH-D) model. Then, aiming at the PCH-D model, a multiple time delays controller is designed based on Casimir function, which can make wind turbines run stably under multiple time delays. Furthermore, based on the passive control theory, L2 gain disturbance rejection control technology is introduced to eliminate the steady-state error caused by external disturbance and improve the stability of wind turbines. Finally, the simulation results show that the proposed controller can effectively solve the multiple time delays and disturbance problems in the system, and improve the stability and anti-interference of wind turbines.",
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"pages": "1--1",
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"doi": "10.1109/access.2020.2997989"
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"type": "journal-article",
"title": "Passivity-Based Control for Movable Multi-Load Inductively Coupled Power Transfer System Based on PCHD Model",
"authors": [
{
"given": "Xin",
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"abstract": "A passivity-based control strategy for movable multi-load inductively coupled power transfer (ICPT) system based on PCHD (Port-Controlled Hamiltonian Dissipation, PCHD) model is proposed, which can effectively suppress mutual inductance and load interference. During the movement of the secondary coil of the movable multi-load ICPT system, due to the change of mutual inductance and the randomness of the multi-load, it will cause the transmission power and efficiency to oscillate and generate harmonics. Firstly, in view of the above problems, this paper analyzes the ICPT system under movable multiple loads. The DQ transformation method was used to establish the large-signal mathematical model of the system, and PCHD mathematical model in the DQ domain was established to decouple the active and reactive power. Secondly, the passivity-based controller (PBC) is designed by using the principle of interconnection and damping assignment passivity-based control (IDA-PBC). After that, the second method of Lyapunov function is used for stability analysis, and further verifies the asymptotic stability of the closed-loop system. Finally, the proposed method was verified by MATLAB/Simulink simulation. The simulation results show that the passivity-based controller has stronger robustness in both steady and movable states compared with the PI controller, which effectively suppresses the oscillation and total harmonic distortion caused by the change of mutual inductances and the randomness of the loads.",
"container_title": "IEEE Access",
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"volume": "8",
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"pages": "100810--100823",
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"abstract": "In this article we present the implementation in Modelica language of a library with the fundamental components for modeling a wide variety of multiphysics systems. Modelica is an object-oriented modeling language, which allows to make a simple, systematic and elegant design of the library. The mechanisms of inheritance and composition of Modelica facilitate the modeling and reuse of components in different domains of Physics. To model the behavior of each component in a systematic framework we have used the theory of port-Hamiltonian systems, formulated mainly by means of differential geometry. The port-Hamiltonian approach allows a methodical definition of complex systems by connecting simple systems that exchange energy through connection ports. To graphically represent the components of a system and their connections, we have employed slightly modified bond graphs symbols for easier reading. The general and systematic applicability of the library is illustrated via two examples framed in different domains of Physics: the mechanical Sun-Earth-Moon system where we perform an analysis of errors that justifies the employed system of units, and the electrical nonlinear Chua circuit, modeled by composition of port-Hamiltonian subsystems. Both derived models have been built and simulated based on the more general models of mechanical and electrical systems, which are also part of the library developed with the port-Hamiltonian approach.",
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"title": "Passivity-Based Control for Small Hydro-Power Generation With PMSG and VSC",
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"abstract": "This paper presents a passivity-based control method for a small hydro-power system that consists of a permanent magnet synchronous generator (PSMG) connected to the grid through a back-to-back converter. Nonlinear models of the hydraulic, mechanical, and electrical parts of the small hydro-power system are considered. Two approaches in the realm of passivity-based control are implemented, namely, standard passivity-based control and PI-passive. These controls consider the intrinsic characteristics of the model, which has a port-Hamiltonian (pH) structure with a small hydro-power system in open-loop. The purpose is to design a control law with passive output which ensures asymptotic stability for closed-loop operation in the sense of Lyapunov’s theory. The paper is practically oriented, and hence, the proposed controllers are tested and compared with a conventional approach, in a 13.2 kV distribution feeder. The proposed controllers have been assessed and compared with a classical PI controller considering steady state and transient behaviors in small hydro-power plants (SHPs). Simulation results show that the proposed methodology guarantees stability and offers better dynamical performance.",
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"abstract": "In this paper we present a robust trajectory tracking control for a fully actuated marine surface vehicle. The tracking controller is obtained using a port-Hamiltonian model of the marine craft and includes an integral action to compensate for constant disturbances. The proposed approach adds damping into both the position and integrator coordinates, leading to input-to-state stability with respect to time-varying disturbances. We exemplify this controller with a simulation for an unmanned surface vehicle subjected to constant and time-varying wind disturbances. The tracking controller rejects the disturbances achieving global exponential stability for constant disturbances and input state stability for time-varying disturbances.",
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"type": "journal-article",
"title": "Development of Optimized Cooperative Control Based on Feedback Linearization and Error Port-Controlled Hamiltonian for Permanent Magnet Synchronous Motor",
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"abstract": "The conflict between dynamic rapidity and steady-state accuracy is a crucial factor hindering the performance improvement of motor control system. To overcome the issue, this article proposes an optimized cooperative control combining feedback linearization (FBL) and error port-controlled Hamiltonian (EPCH) for permanent magnet synchronous motor (PMSM). First, FBL and EPCH are separately designed to obtain good dynamic and steady-state performances. Then, considering the individual advantages of FBL and EPCH, a cooperative strategy based on the real-time position error is applied to realize the smooth switching between the two methods, so that each method is utilized efficiently within the corresponding operating range. In addition, the particle swarm optimization (PSO) algorithm is introduced to properly select the controller parameters. Thus, an optimized cooperative control method, which takes into account both fast dynamic response and high steady-state precision, is developed for PMSM drives. The experimental results are finally given to illustrate the effectiveness and superiority of the proposed method.",
"container_title": "IEEE Access",
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"volume": "9",
"issue": "",
"pages": "141036--141047",
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"doi": "10.1109/access.2022.3146367"
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"type": "journal-article",
"title": "Energy-Based Modeling and Hamiltonian LQG Control of a Flexible Beam Actuated by IPMC Actuators",
"authors": [
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"abstract": "The control of a flexible beam using ionic polymer metal composites (IPMCs) is investigated in this paper. The mechanical flexible dynamics are modelled as a Timoshenko beam. The electric dynamics of the IPMCs are considered in the model. The port-Hamiltonian framework is used to propose an interconnected control model of the mechanical flexible beam and IPMC actuator. Furthermore, a passive and Hamiltonian structure-preserving linear quadratic Gaussian (LQG) controller is used to achieve the desired configuration of the system, and the asymptotic stability of the closed-loop system is shown using damping injection. An experimental setup is built using a flexible beam actuated by two IPMC patches to validate the proposed model and show the performance of the proposed control law.",
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"title": "Distributed Control and Optimization of DC Microgrids: A Port-Hamiltonian Approach",
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"abstract": "This article proposes a distributed secondary control scheme that drives a dc microgrid to an equilibrium point where the generators share optimal currents, and their voltages have a weighted average of nominal value. The scheme does not rely on the electric system topology nor its specifications; it guarantees plug-and-play design and functionality of the generators. First, the incremental model of the microgrid system with constant impedance, current, and power devices is shown to admit a port-Hamiltonian (pH) representation, and its passive output is determined. The economic dispatch problem is then solved by the Lagrange multipliers method; the Karush-Kuhn-Tucker conditions and weighted-average formation of voltages are then formulated as the control objectives. We propose a control scheme that is based on the Control by Interconnection design philosophy, where the consensus-based controller is viewed as a virtual pH system to be interconnected with the physical one. We prove the regional asymptotic stability of the closed-loop system using Lyapunov and LaSalle theorems. Equilibrium analysis is also conducted based on the concepts of graph theory and economic dispatch. Finally, the effectiveness of the presented scheme for different case studies is validated with a test microgrid system, simulated in both MATLAB/Simulink and OPAL-RT environments.",
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"citation": "Yang, T., Sun, N. & Fang, Y. Adaptive Fuzzy Control for a Class of MIMO Underactuated Systems With Plant Uncertainties and Actuator Deadzones: Design and Experiments. IEEE Transactions on Cybernetics vol. 52 8213–8226 (2022)"
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"doi": "10.1109/tnnls.2021.3115960"
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"title": "Anti-Saturation Coordination Control of Permanent Magnet Synchronous Wind Power System",
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"name": "Institute of Automation, Qufu Normal University, Qufu, China"
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"abstract": "This paper is concerned with the anti-saturation control problem of a permanent magnet synchronous wind power system. By virtue of adaptive sliding mode control method and port-controlled Hamiltonian (PCH) control method, a new coordination controller is designed, which removes the input saturation effects and compensates the uncertainties of system model parameters. The controller takes the exponential function with parameters as the coordination function. By adjusting the parameters of coordination function, the designed coordination controller can respond to input saturation more quickly and improve the system’s dynamic performance. The effectiveness of the proposed strategy is demonstrated through simulations. The comparison results with the traditional control approach are also presented. It is shown that the proposed strategy can realize the speed tracking control of the generator and improve the maximum wind energy capture of wind turbine, so as to further improve the utilization efficiency of wind energy.",
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{
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{
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"doi": "10.1109/access.2023.3321582"
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"title": "Port-Hamiltonian Control of GFM-VSCs With Robust Stable and Uniform Error Dynamics",
"authors": [
{
"given": "Duo",
"family": "Wang",
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"name": "Department of Electrical and Computer Engineering, Illinois Institute of Technology, Chicago, IL, USA"
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"abstract": "In this paper, a grid-forming (GFM) control is developed based on the nonlinear Port-Hamiltonian (PH) system theory to systematically achieve tracking control and Lyapunov-based stability by considering the power flow dynamic, voltage and current dynamics of voltage source converters (VSCs) system. The proposed controller is robust to both matched constant and periodic disturbances (e.g., grid voltage/frequency fluctuation, load change, voltage harmonics) and nonlinearities due to structural model uncertainties (e.g., output/line impedance variation, coupling effect). Compared to the conventional linear proportional resonant (PR)-based controller, the proposed PH-based nonlinear controller has uniform transient dynamic performance among different operating conditions in large disturbance rejection scenarios, resulted from the ensured closed-loop (semi)globally stable and uniform error dynamics with design facilitated configurable interconnection and damping matrices fixed by initial settings. Experimental results are presented to demonstrate the effectiveness of the proposed control framework in various working conditions.",
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"pages": "109213--109224",
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{
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"title": "Research on Control Strategy of Hamiltonian Theory for Large Telescope Based on SAPMSM",
"authors": [
{
"given": "Xiaoli",
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"name": "Chinese Academy of Sciences, Nanjing Institute of Astronomical Optics and Technology, Nanjing, China"
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"given": "Zhaojin",
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"name": "Chinese Academy of Sciences, Nanjing Institute of Astronomical Optics and Technology, Nanjing, China"
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"abstract": "The azimuth axis drive and control of large telescopes based on Segmented Arc Permanent Magnet Synchronous Motor (SAPMSM) is a current research hotspot, and issues such as unknown parameters and external interference are important factors affecting its tracking accuracy. This paper proposes a SAPMSM perturbation suppression strategy for large telescopes based on port-controlled Hamiltonian (PCH) theory. In this study, the Hamiltonian mathematical model of SAPMSM is established and the current controller of the SAPMSM is designed to reduce harmonics by configuring the required interconnection and damping matrix. In order to further improve the accuracy and anti-disturbance performance of speed feedback, a Generalized Proportional Integral Observer (GPIO) is selected for total disturbance observation, estimation and compensation. The experimental results indicated that the algorithm proposed in this paper has lower harmonic content in the phase current of the SAPMSM, which can ensure good position tracking ability and anti-interference performance of large telescopes.",
"container_title": "IEEE Access",
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"pages": "31960--31967",
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"references": [
{
"identifiers": {
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{
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{
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
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{
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{
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"type": "proceedings-article",
"title": "Passivity-based Method Based on PCHD Model of Modular Multilevel Converter Circulating Current Suppressing",
"authors": [
{
"given": "Rongjiang",
"family": "Yu",
"literal": null,
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{
"given": "Zhengyu",
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{
"given": "Zhonghua",
"family": "Chen",
"literal": null,
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}
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"given": "Zhexiao",
"family": "Pan",
"literal": null,
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}
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{
"given": "Hua",
"family": "Xue",
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"abstract": "Modular multilevel converter (MMC) is widely applied to high power renewable energy generation, due to the randomness of the renewable energy fluctuation, the system parameter perturbation and the nonlinear characteristic of MMC. The traditional vector control method can suppress the MMC circulating current, but it is hard to make sure the system strongly global stability and robust performance. To solve this problem, a novel passivity-based circulating current suppressing method based on port-controlled Hamiltonian with dissipation (PCHD) model is proposed. Based on the MMC global energy function of the PCHD model, the passivity-based controller is designed to modify the energy of closed-loop system by shaping storage function, so that the system energy could obtain the minimum value at the desired equilibrium point. The global asymptotic stability of the system is realized. The simulation results of MATLAB/Simulink shows that the proposed passivity-based circulating current suppressing method of MMC has the advantages of simplicity and good transient performance, and the system is globally stable and strongly robust.",
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"pages": "1219--1223",
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"references": [
{
"identifiers": {
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},
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},
{
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{
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}
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},
{
"id": "e12be4b4-044d-586a-bac9-6c6ba30faf0c",
"identifiers": {
"doi": "10.1109/acpee51499.2021.9437097"
},
"type": "proceedings-article",
"title": "Passivity-Based Sliding Mode Control Method of Motors with PCHD Model",
"authors": [
{
"given": "Dajun",
"family": "Xu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Ningbo Yinzhou District Power Supply Co., Ltd State Grid Zhejiang Electric Power Co., Ltd,Ningbo,China"
}
]
}
},
{
"given": "Shu",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "State Grid Zhejiang Electric Power Co., Ltd,Innovation and entrepreneurship center,Hangzhou,China"
}
]
}
},
{
"given": "Lei",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Ningbo Yinzhou District Power Supply Co., Ltd State Grid Zhejiang Electric Power Co., Ltd,Ningbo,China"
}
]
}
},
{
"given": "Peizhou",
"family": "Yu",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Ningbo Yinzhou District Power Supply Co., Ltd State Grid Zhejiang Electric Power Co., Ltd,Ningbo,China"
}
]
}
},
{
"given": "Yichuan",
"family": "Zhang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "State Grid Zhejiang Ningbo Yinzhou District Power Supply Co., Ltd Ningbo Yongneng Industry Investment Co. Ltd,Ningbo,China"
}
]
}
},
{
"given": "Yufei",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Shanghai University of Electric Power,School of Electrical Engineering,Shanghai,China"
}
]
}
},
{
"given": "Xiaoying",
"family": "Zhu",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Ningbo Yinzhou District Power Supply Co., Ltd State Grid Zhejiang Electric Power Co., Ltd,Ningbo,China"
}
]
}
}
],
"abstract": "High-performance control of induction motors has always been an important research direction in field of nonlinear control. The passivity-based control (PBC) method has brought a new solver to the globally stable controller design problem of nonlinear induction motor. The aim of this paper is to develop a control algorithm to realize asymptotically tracking of flux and speed under unknown time-varying load torque, and repress the tracking error caused by the stator and rotor resistance changes. To achieve this, a port-controlled Hamiltonian with dissipation (PCHD) model of induction motor is built, and a nonlinear feedback PBC method, combined with sliding mode control, is proposed. From the energy point of view, the inductor motor control system is analyzed and the “workless forces” is determined, which does not have any effect on the energy balance equation of the closed control system. This leads to a simple control structure with nonexistence of singularity and enhances the robustness of the control system. The reasonability and validity of the proposed method is testified by the experimental results based on dSPACE.",
"container_title": "2021 6th Asia Conference on Power and Electrical Engineering (ACPEE)",
"publication_year": "2021",
"volume": "",
"issue": "",
"pages": "971--976",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2021-05-24",
"permalink": "passivity-based-sliding-mode-control-method-of-motors-with-pchd-model",
"references": [
{
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{
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},
{
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},
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},
{
"identifiers": {
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{
"identifiers": {
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},
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{
"identifiers": {
"doi": "10.1109/tpel.2020.3008915"
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{
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}
]
},
{
"id": "41274901-f253-566b-bb07-a996f76ec59f",
"identifiers": {
"doi": "10.1109/aero66936.2026.11519786"
},
"type": "proceedings-article",
"title": "ARISE: Continuous Port–Hamiltonian Damping at ESPA Injection for High Speed Flyby",
"authors": [
{
"given": "Harish",
"family": "Vernekar",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "University of Arizona,SpaceTREx Laboratory,Tucson,Arizona,USA"
}
],
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"given": "Leonard",
"family": "Vance",
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"affiliation": [
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"name": "University of Arizona,SpaceTREx Laboratory,Tucson,Arizona,USA"
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"abstract": "This paper proposes a method for design of a set-point regulation controller with integral action for an underactuated robotic system. The robot is described as a port-Hamiltonian system, and the control design is based on a coordinate transformation and a dynamic extension. Both the change of coordinates and the dynamic extension add extra degrees of freedom that facilitate the solution of the matching equation associated with interconnection and damping assignment passivity-based control designs (IDA-PBC). The stability of the controlled system is proved using the closed loop Hamiltonian as a Lyapunov candidate function. The performance of the proposed controller is shown in simulation.",
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"title": "Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian theory",
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"abstract": "This paper presents a control design for tracking of attitude and speed of an underactuated slender-hull unmanned underwater vehicle (UUV). The control design is based on Port-Hamiltonian theory. The target dynamics (desired dynamic response) is shaped with particular attention to the target mass matrix so that the influence of the unactuated dynamics on the controlled system is suppressed. This results in achievable dynamics independent of uncontrolled states. Throughout the design, insight of the physical phenomena involved is used to propose the desired target dynamics. The performance of the design is demonstrated through simulation with a high-fidelity model.",
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"abstract": "In this paper, we investigate fundamental limits for physical implementations of the Kalman-Bucy filter for state estimation of a class of linear port-Hamiltonian systems. In particular, for the studied class of systems we show the Kalman-Bucy filter itself is a port-Hamiltonian systems and by invoking the second law of thermodynamics, we can characterize the external power supply needed to generate an optimal state estimate. We also show how the required external power supply can be decreased by allowing the filter to perturb the measured system to a larger extent. Hence, it is possible to decrease the so-called back action of the filter by spending more energy. We illustrate our results using passive electric circuits.",
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"abstract": "In this work a new and fast network-wide framework is addressed for modeling and tracking the dynamic behavior of transmission lines in Power Networks (PN). A sparse-based mathematical formulation for Transmission Line Dynamic Behavior Tracking (TLDBT) is formed by incorporating a PN Port-Hamiltonian model. Among the TLDBT a new set of intermediate parameters called the line dynamic index coefficients (LDIC) are defined based on the wave propagation analysis of current waves in transmission lines. It is shown how these coefficients can reflect the dynamic behavior of the transmission lines. The online monitoring of variations in these index coefficients is interpreted as an alternative approach for TLDBT in power grids. Finally, exploiting the inherent sparsity in the PN structure this TLDBT problem is reformulated as a Structured Sparse Recovery Problem (SSRP) and the TLDBT-SSRP is solved for LDICs. The simulation results indicate that the proposed framework can be considered as an alternative approach to address the new challenges in the future generation of smart power grids modeling, monitoring and congestion-management strategies.",
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"doi": "10.1109/andescon50619.2020.9272078"
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"type": "proceedings-article",
"title": "Adaptive IDA-PBC Applied to On-Board Boost Converter Supplying a Constant Power Load",
"authors": [
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"given": "W.",
"family": "Gil-Gonzalez",
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"abstract": "This paper addresses the problem of output voltage regulation of a boost dc-dc converter supplying an unknown constant power load (CPL). An interconnection and damping assignment passivity-based control (IDA-PBC) approach is employed to design the closed-loop controller taking advantage of the port-Hamiltonian structure of the converter under average modeling. An adaptive online method to estimate the CPL consumption is made by guaranteeing asymptotic stability in Lyapunov’s sense for closed-loop operation. Numerical validation between a nonlinear controller based on a sliding theory and the proposed IDA-PBC approach demonstrates the effectiveness and robustness of the passivity-based methods for regulating voltage profiles in boost converters, including large-scale variations in the CPL. All the numerical validations are conducted in MATLAB/Simulink software.",
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"type": "proceedings-article",
"title": "Port Hamiltonian modelling and control of a micro-channel",
"authors": [
{
"given": "Nelson",
"family": "Cisneros",
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"container_title": "2019 Australian & New Zealand Control Conference (ANZCC)",
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{
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"abstract": "This paper examines the control principle and limitations of traditional droop control method based harmonic suppression of grid-connected current. Subsequently, an innovative harmonic suppression method of grid-connected current for voltage-controlled inverter has been presented. The grid-connected inverter model is transposed to the port-controlled Hamiltonian model, and the grid-connected controller is constructed on the energy-shaping control theory. This approach significantly simplifies the structure of the grid-connected controller and manages parameter quantity. Based on these findings, the effectiveness of the proposed harmonic suppression method in injected grid current is verified under various operating conditions via an experimental platform for the inverter, which employs the Danfoss inverter and RT Box controller.",
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"title": "Observability analysis and observer design for DC-DC converters: A generalized approach",
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"given": "Changyu",
"family": "Miao",
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"name": "State Key Laboratory of Industrial Control Technology, Dept. of Control Science and Engineering Zhejiang University"
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"name": "State Key Laboratory of Industrial Control Technology, Dept. of Control Science and Engineering Zhejiang University"
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"abstract": "This paper mainly analyses the observability of large signal models of DC-DC converters and designs a nonlinear observer for the boost converter. A graph-theoretic method which has small computational complexity is proposed to verify observability properties of the boost converter and the superbuck converter. Furthermore, a full state nonlinear observer is designed based on the port-Hamiltonian system form of the large signal model of a DC-DC converter. The observer is applied to the boost converter and the observation of the inductor current tracks the actual value well.",
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"title": "A port-Hamiltonian approach to exponential stabilisation and disturbance rejection of a DC-DC buck converter with a nonlinear load",
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"abstract": "In this paper we present a passivity-based control (PBC) design for stabilisation of a DC-DC buck converter subject to nonlinear loads and matched and unmatched disturbances. We propose a stabilising dynamic controller that also implements integral action in the closed-loop system to reject constant disturbances. We show that the desired equilibrium in closed loop is exponentially stable and that it is input-to-state-stable with respect to matched and unmatched disturbances. The controller is designed within the framework of port-Hamiltonian theory, which allows us to ensure stability and robust closed-loop properties. We also characterise, in terms of the Volt-Ampere functions, the class of nonlinear loads that the controller can handle. The resulting controller is a classical interconnection and damping assignment PBC with integral action. An advantage of our design process is that we solve the so-called matching equation by construction; thus, we avoid the need of solving partial differential equations (PDEs). The performance of the control system is assessed via numerical simulations of the closed loop under several disturbance scenarios.",
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"pages": "132--137",
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{
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{
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{
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{
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{
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{
"identifiers": {
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{
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{
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{
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{
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"doi": "10.1109/cac.2017.8242945"
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"title": "Integral control in the current loop of permanent magnet synchronous motor based on passivity",
"authors": [
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"given": "Fenqiang",
"family": "Zhuang",
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"given": "Yanwei",
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"abstract": "A passivity-based controllers with integral actions is proposed to control the current loop of permanent magnet synchronous motor (PMSM). The Port-controlled Hamiltonian system with dissipation (PCHD) model of permanent magnet synchronous motor with voltage disturbance is established by introduction of the state error and the integral action. The Lyapunov function is constructed to analyze the stability of system under the condition of constant and time-varying perturbations. This control strategy can obtain the control law of the d, q axis and integral action, and can keep an exponential convergence of the closed loop system. Experimental simulation results show the proposed control strategy can effectively suppress the constant and time-varying disturbances, eliminate the steady-state error, and improve the robustness of system.",
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"pages": "1181--1186",
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"identifiers": {
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{
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{
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"identifiers": {
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{
"identifiers": {
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"identifiers": {
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{
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{
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"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
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{
"identifiers": {
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{
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{
"identifiers": {
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}
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"doi": "10.1109/cac.2017.8243066"
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"type": "proceedings-article",
"title": "Port-controlled Hamiltonian optimal control and its application on electric vehicle drives",
"authors": [
{
"given": "Wenhui",
"family": "Pei",
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"abstract": "In this paper, a new approach is successfully addressed to design the optimal controller of the port controlled Hamilton (PCH) system. The expected energy of the PCH system is shaped into the value function satisfying the Hamilton-Jacobi-Bellman (HJB) equation, where the method of interconnection and damping assignment is applied, and the expected energy is derived by exploiting the matrix decomposition approach. It is shown that the proposed method has many potential advantages for both theory and application of the optimal control of the PCH systems such as, instead of solving partial differential equations, the matching conditions in the optimal control become a set of algebraic equations. In practice, the discussed method is used to the optimal control of the induction motor for electric vehicle, and the simulation results are provided to validate the concepts.",
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"abstract": "A novel four quadrant operation control strategy of permanent magnet synchronous motor (PMSM) drive systems is proposed. In order to regulate precisely output direct current (DC) bus voltage and achieve the control of unity power factor, the exponential functional-based sliding mode reaching law (ESMRL), which adapts to the variations of the grid-side inverter and sliding mode surfaces, is developed. The mathematical model of PMSM based on port-controlled Hamiltonian (PCH) is established according to the energy-balancing point of view. On the basis of energy optimization and operation in four-quadrant, the PCH controller using energy-shaping and passivity-based control is applied in motor-side inverter. The controllers proposed ensure that the motor can run in four-quadrant, energy is bidirectional flow, the DC bus voltage is controllable, the power factor is near one and energy consumption is smaller. The simulation results authenticate the validity of the presented control algorithms.",
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{
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{
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"title": "Observer-Based Adaptive Exponential Tracking of Port - Hamiltonian Systems via Contraction Method",
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"abstract": "This article proposes an observer-based adaptive exponential tracking control scheme for port-Hamiltonian systems (PHS) involving parameter uncertainty based on contraction method (CM). First, an exponential adaptive observer with Hamiltonian structure for uncertain generalized PHS is given based on the idea of augment plus feedback. Compared with the conventional observer design method, the proposed observer can maintain the structure of original system and simultaneously guarantees the completeness of the state's physical significance. Then, based on designed observer, we proposed an adaptive tracking control strategy by using the structure properties of the PHS and CM. Moreover, an analysis is provided of the relevant decay rate and how parameters affect tracking speed of system. Ultimately, simulation results demonstrated the effectiveness of proposed method.",
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
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"type": "proceedings-article",
"title": "Fourier-Based Formation Control of Multiple Unmanned Surface Vessels Using a State Error Port Control Hamiltonian Framework",
"authors": [
{
"given": "Zichen",
"family": "Wang",
"literal": null,
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{
"name": "School of Information and Control Engineering, Qingdao University of Technology,Qingdao,China"
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{
"given": "Ying",
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"name": "School of Information and Control Engineering, Qingdao University of Technology,Qingdao,China"
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"given": "Qian",
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"name": "Qingdao High-Tech Industrial Development Co. Ltd,Qingdao,China"
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{
"given": "Jian",
"family": "Chen",
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"name": "School of Information and Control Engineering, Qingdao University of Technology,Qingdao,China"
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"given": "Chengxing",
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"name": "School of Information and Control Engineering, Qingdao University of Technology,Qingdao,China"
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"abstract": "Formation control of multiple unmanned surface vessels faces complex and changing environments and mission requirements, and the realization of efficient and complex formation control and the reduction of energy consumption have become key issues that need to be urgently addressed. In order to enhance system optimization, a state error port control Hamiltonian approach is employed to develop a Fourier-based controller for multiple unmanned surface vessels. It uses truncated Fourier series approximation curves and their finite coefficients to describe the shape of the curves in a state-error-port Hamiltonian framework. It automatically assigns multiple unmanned surface vessels to each of the formation control systems. The numerical and experimental results indicate that this approach not only simplifies the formation control process but also significantly reduces energy consumption. The algorithm has good tracking performance for closed boundaries of complex shapes, providing a novel and effective solution for complex formation tasks.",
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"pages": "2490--2495",
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{
"identifiers": {
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"abstract": "A novel energy based model of the human middle ear is presented. A Port-Hamiltonian modelling approach is used in the development of the model. The model is used to illustrate, sound transmission through the middle ear of a healthy subject. Parameters for validating the developed model were obtained from existing literature. The results indicate a peak at 1 kHz, confirming the behaviour of the middle ear as a resonant system tuned to the frequency between 700 and 1200 kHz. The results were found to be comparable to clinical and audiological data in existing literature. Future improvements to the presented model would include the rotational motion of the Stapes in the middle ear.",
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"title": "Energy preserving control of a hopping robot based on hybrid port-controlled Hamiltonian modeling",
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"given": "M.",
"family": "Ishikawa",
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"abstract": "In this paper, we propose an energy-based approach to feedback control problem for a hopping robot on an elastic ground. In order that the system behaves in a periodic hopping motion, we make an attempt to keep the system's total energy (Hamiltonian) to a certain specified value. Since our target is inherently a hybrid system, which has discontinuous, and discrete event dynamics, we suggest a suitable impact model and describe it as a hybrid version of port-controlled Hamiltonian system. Then a passivity based control called IDA (interconnection and damping assignment) is applied to this problem, which results in a good performance in the ideal situation. Moreover, we introduce a servo-like integrator into this controller to reject disturbances due to modeling uncertainty. Efficiency of the proposed method is validated both in simulations and experiments using our newly developed hopping robot system.",
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"given": "C.",
"family": "Secchi",
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"abstract": "The goal of this paper is to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy and a way to handle lost packets that allow power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets",
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"doi": "10.1109/cca.2005.1507190"
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"type": "proceedings-article",
"title": "Distributed port hamiltonian formulation of flexible beams under large deformations",
"authors": [
{
"given": null,
"family": "Gou Nishida",
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"abstract": "In this paper, a formulation of flexible beams under large deformations for distributed parameter port Hamiltonian systems is presented. This model is one example of systems that have complex energy variables. For such a model, a unified modeling method is introduced with multivariable representation. First, a Stokes-Dirac structure is related to the calculus of variations by using a jet bundle formalism. Next, the flexible beams model is represented as the port Hamiltonian system. Finally, the model is compared to a conventional model and two reduced models",
"container_title": "Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.",
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"issue": "",
"pages": "589--594",
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{
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"doi": "10.1007/978-1-4612-4350-2"
},
"citation": "Olver, P. J. Applications of Lie Groups to Differential Equations. Graduate Texts in Mathematics (Springer New York, 1993). doi:10.1007/978-1-4612-4350-2"
},
{
"identifiers": {
"doi": "10.1017/cbo9780511526411"
},
"citation": "Saunders, D. J. The Geometry of Jet Bundles. (1989) doi:10.1017/cbo9780511526411"
},
{
"identifiers": {
"doi": "10.1109/9.553687"
},
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},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
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},
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},
{
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},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
"identifiers": {
"doi": "10.1115/1.3171870"
},
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},
{
"identifiers": {
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},
"citation": "Zheng-Hua Luo. Direct strain feedback control of flexible robot arms: new theoretical and experimental results. IEEE Trans. Automat. Contr. 38, 1610–1622 (1993)"
},
{
"identifiers": {
"doi": "10.1137/s0363012903429530"
},
"citation": "Macchelli, A. & Melchiorri, C. Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach. SIAM J. Control Optim. 43, 743–767 (2004)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2004.1430355"
},
"citation": "Nishida, G. & Yamakita, M. Disturbance structure decomposition for distributed-parameter port-Hamiltonian systems. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 2082-2087 Vol.2 (2004) doi:10.1109/cdc.2004.1430355"
},
{
"identifiers": {
"doi": "10.23919/acc.2004.1384643"
},
"citation": "Nishida, G. & Yamakita, M. A higher order Stokes-Dirac structure for distributed-parameter port-Hamiltonian systems. Proceedings of the 2004 American Control Conference 5004–5009 vol.6 (2004) doi:10.23919/acc.2004.1384643"
},
{
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},
{
"identifiers": {
"doi": "10.1109/cdc.2004.1429325"
},
"citation": "Macchelli, A., van der Schaft, A. J. & Melchiorri, C. Port Hamiltonian formulation of infinite dimensional systems II. Boundary control by interconnection. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 3768-3773 Vol.4 (2004) doi:10.1109/cdc.2004.1429325"
},
{
"identifiers": {
"doi": "10.1109/cdc.2004.1429324"
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"citation": "Macchelli, A., van der Schaft, A. J. & Melchiorri, C. Port Hamiltonian formulation of infinite dimensional systems I. Modeling. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 3762-3767 Vol.4 (2004) doi:10.1109/cdc.2004.1429324"
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"type": "proceedings-article",
"title": "Dissipative Hamiltonian Realization of Multi-machine Multi-load Power Systems",
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{
"given": "Yanhong",
"family": "Liu",
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{
"given": "Jianyong",
"family": "Li",
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"given": "Chunwen",
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"abstract": "Port-controlled Hamiltonian system method is very useful in the performance enhancement control of power systems, of which the key step is to model the power system as a dissipative Hamiltonian system, i.e., to complete the dissipative Hamiltonian realization (DHR). This paper proposes a DHR for multi-machine multi-load power systems based on a novel DHR structure for nonlinear differential algebraic systems, with which we derive a sufficient condition for the existence and construction of DHRs with constant structure matrices. An example shows that the proposed DHR can facilitate the excitation controller design of power systems.",
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"pages": "940--945",
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{
"identifiers": {},
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},
{
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},
{
"identifiers": {
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{
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},
{
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},
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},
{
"identifiers": {
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{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1080/00207170050201762"
},
"citation": "Xi, Z. & Cheng, D. Passivity-based stabilization and H 8 control of the Hamiltonian control systems with dissipation and its applications to power systems. International Journal of Control 73, 1686–1691 (2000)"
},
{
"identifiers": {
"doi": "10.1109/tac.2004.840477"
},
"citation": "Transient stabilization of multimachine power systems with nontrivial transfer conductances. IEEE Trans. Automat. Contr. 50, 60–75 (2005)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00233-3"
},
"citation": "Xi, Z., Cheng, D., Lu, Q. & Mei, S. Nonlinear decentralized controller design for multimachine power systems using Hamiltonian function method. Automatica 38, 527–534 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tac.2003.815037"
},
"citation": "Yuzhen Wang, Daizhan Cheng, Chunwen Li & You Ge. Dissipative hamiltonian realization and energy-based L/sub 2/-disturbance attenuation control of multimachine power systems. IEEE Trans. Automat. Contr. 48, 1428–1433 (2003)"
},
{
"identifiers": {
"doi": "10.1109/tac.2002.804465"
},
"citation": "He-Sheng Wang, Chee-Fai Yung & Fan-Ren Chang. H/sub ∞/ control for nonlinear descriptor systems. IEEE Trans. Automat. Contr. 47, 1919–1925 (2002)"
},
{
"identifiers": {
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},
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},
{
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},
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{
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},
{
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},
{
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{
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},
{
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "fujimoto, Stabilization of Hamiltonian systems with nonholonomic constrains based on time-varying generalized canonical transformations Systems & Control Letters (2001)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
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},
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},
{
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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}
]
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"id": "2e10cb65-aa08-5a15-9b71-f0ab5ef3e659",
"identifiers": {
"doi": "10.1109/cca.2009.5280704"
},
"type": "proceedings-article",
"title": "A new strict Lyapunov function for fully-actuated mechanical systems controlled by IDA-PBC",
"authors": [
{
"given": "J.A.",
"family": "Acosta",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "E.",
"family": "Panteley",
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{
"given": "R.",
"family": "Ortega",
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"abstract": "In this brief note a new strict Lyapunov function for mechanical systems controlled by the well-known Passivity-based Control technique of Interconnection and Damping Assignment is proposed. The general, total energy-shaping, formulation of the control technique is considered, which yields a port-Hamiltonian closed-loop system with non-fixed symplectic structure. To construct the proposed Lyapunov function a new systematic mathematical machinery is introduced. The resulting Lyapunov function contains, as particular cases, previous functions obtained for robot manipulators controlled by potential energy-shaping (plus damping injection) schemes. An additional contribution of our work is that, in contrast with most of the existing literature on this topic that is restricted to robot manipulators with only revolute joints, our analysis is applicable to robots with both revolute and prismatic joints. As an illustration example, practical bounds for a two-link direct drive robot manipulator are computed.",
"container_title": "2009 IEEE International Conference on Control Applications",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "519--524",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2009-10-12",
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tac.2005.860292"
},
"citation": "Acosta, J. A., Ortega, R., Astolfi, A. & Mahindrakar, A. D. Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one. IEEE Transactions on Automatic Control vol. 50 1936–1955 (2005)"
},
{
"identifiers": {
"doi": "10.1109/9.895562"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(96)00194-x"
},
"citation": "Santibáñez, V. & Kelly, R. Strict Lyapunov functions for control of robot manipulators. Automatica vol. 33 675–682 (1997)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1115/1.3139651"
},
"citation": "Takegaki, M. & Arimoto, S. A New Feedback Method for Dynamic Control of Manipulators. Journal of Dynamic Systems, Measurement, and Control vol. 103 119–125 (1981)"
},
{
"identifiers": {
"doi": "10.3166/ejc.8.408-431"
},
"citation": "Astolfi, A., Ortega, R. & Sepulchre, R. Stabilization and Disturbance Attenuation of Nonlinear Systems Using Dissipativity Theory. European Journal of Control vol. 8 408–431 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tac.2005.863500"
},
"citation": "Mazenc, F. & Malisoff, M. Further Constructions of Control-Lyapunov Functions and Stabilizing Feedbacks for Systems Satisfying the Jurdjevic–Quinn Conditions. IEEE Transactions on Automatic Control vol. 51 360–365 (2006)"
},
{
"identifiers": {},
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}
]
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"doi": "10.1109/cca.2010.5611289"
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"type": "proceedings-article",
"title": "Port-based modeling of magnetohydrodynamics equations for Tokamaks",
"authors": [
{
"given": "Gou",
"family": "Nishida",
"literal": null,
"source_fields": {
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"given": "Noboru",
"family": "Sakamoto",
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"abstract": "This paper shows the port-representation of magnetohydrodynamics Tokamaks. The consists coupled two physical systems, i.e. Maxwell equations and ideal compressible isentropic fluids. coupling term is product free current density magnetic field induction. Port-Hamiltonian systems a control system representation based on passivity. can express connected multi-physical (e.g., electric mechanical fluid dissipative controllers). port-Hamiltonian has been extended as distributed by introducing Stokes-Dirac structure. structure directly relates to boundary integrability Stokes theorem. Therefore, energy problems, because we observe integrable energies in internal domains from boundaries. Our present interest clarify counter part Lagrangian side. will provide us more general framework variational structures.",
"container_title": "2010 IEEE International Conference on Control Applications",
"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "842--847",
"publisher": "IEEE",
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"created_date": "2010-11-10",
"permalink": "port-based-modeling-of-magnetohydrodynamics-equations-for-tokamaks",
"references": [
{
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{
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},
{
"identifiers": {
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},
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},
{
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},
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},
{
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{
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{
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{
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{
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{
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{
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{
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"type": "proceedings-article",
"title": "Adaptive tracking control of fully actuated port-Hamiltonian mechanical systems",
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"given": "D.A.",
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"abstract": "In the presence of parameter uncertainty tracking control can result in significant tracking errors. To overcome this problem adaptive control is applied, which estimates and compensates for the errors of the uncertain parameters. A new adaptive tracking control scheme is presented for standard fully actuated port-Hamiltonian mechanical systems. The adaptive control is such that the closed loop error system is still port-Hamiltonian and asymptotically stable.",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.1109/cca.2014.6981431"
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"type": "proceedings-article",
"title": "Passivity based control of a chemical process in isothermal reactors: Application to enzymatic hydrolysis of cellulose",
"authors": [
{
"given": "Mohit",
"family": "Makkar",
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"given": "Jean-Yves",
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"abstract": "This paper is exploring the energetic insight in both Mathematical model and Control to simplify the complex character of chemical reactions taking place in reactors. Special interest has been shown to processes at constant temperature and pressure. The Port-Hamiltonian model of network of chemical reactions both in the concentration space and the reaction space followed by the Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) for open chemical systems is formulated here. Futhermore, application to bioprocess in batch and continuous modes has opened the energetic way of looking in to the modeling and control of such reactions. The technique is applied to model and simulate the control of enzymatic hydrolisis of cellulose in a continuous reactor. Special care has been taken to not look loosely on the physical coherence of a system, hence this paper can be an inspiring alternative to pseudo formulations and artificial control in the domain of biochemical engineering.",
"container_title": "2014 IEEE Conference on Control Applications (CCA)",
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"volume": "",
"issue": "",
"pages": "753--758",
"publisher": "IEEE",
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"identifiers": {},
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{
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"doi": "10.1007/978-3-642-16135-3_27"
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"citation": "van der Schaft, A. & Maschke, B. A Port-Hamiltonian Formulation of Open Chemical Reaction Networks. Lecture Notes in Control and Information Sciences 339–348 (2010) doi:10.1007/978-3-642-16135-3_27"
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{
"identifiers": {
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},
{
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},
{
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},
{
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},
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},
{
"identifiers": {},
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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{
"identifiers": {
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},
"citation": "Dörfler, F., Johnsen, J. K. & Allgöwer, F. An introduction to interconnection and damping assignment passivity-based control in process engineering. Journal of Process Control 19, 1413–1426 (2009)"
},
{
"identifiers": {
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},
{
"identifiers": {
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},
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"doi": "10.1109/cca.2015.7320832"
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"type": "proceedings-article",
"title": "Vocal fold modeling through the port-Hamiltonian systems approach",
"authors": [
{
"given": "Marco",
"family": "Encina",
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{
"given": "Juan",
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{
"given": "Matias",
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{
"given": "Gabriel",
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"abstract": "The interest for the vocal fold modeling and in numerical simulations of voice production has arised due to the need to better understand the basic physics of voiced speech and to provide diagnosis and treatment for people with voice disorders. Different models have been proposed and used for both clinical and scientific research studies. Lumped-element models of the vocal fold viscoelastic structure coupled with various aerodynamic and acoustical models have proved to be one of the most useful approaches. On the other hand, the port-Hamiltonian systems (PHS) approach provides a powerful tool for analysis, modeling and control of complex dynamical systems. The approach is based on an energy point of view of systems and has been used in several applications. In this paper, we apply the port-Hamiltonian systems approach to model the voice production system. In particular, we obtain a switching PHS, for a body-cover model of the vocal folds. The resulting model explicitly shows the energy storage, energy dissipation and the interconnection underlying in the system. Additionally, different discretization of the obtained model are discussed.",
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"issue": "",
"pages": "1558--1563",
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"identifiers": {
"doi": "10.1007/978-1-84628-517-2"
},
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{
"identifiers": {
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"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. (2014) doi:10.1561/9781601987877"
},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "falaize, Energy-balanced models for acoustic and audio systems a port-hamiltonian approach (0)"
},
{
"identifiers": {
"doi": "10.1137/s0363012903429530"
},
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},
{
"identifiers": {},
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},
{
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},
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},
{
"identifiers": {
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},
"citation": "Batlle, C., Doria-Cerezo, A. & Fossas, E. IDA-PBC controller for a bidirectional power flow full-bridge rectifier. Proceedings of the 44th IEEE Conference on Decision and Control 422–426 doi:10.1109/cdc.2005.1582192"
},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
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},
{
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},
{
"identifiers": {
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},
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}
]
},
{
"id": "17f44fc7-8e4c-5847-a8c8-f98164c2f9a3",
"identifiers": {
"doi": "10.1109/cca.2016.7587953"
},
"type": "proceedings-article",
"title": "Bond graph model-based for IDA-PBC",
"authors": [
{
"given": "Camilo",
"family": "Garcia-Tenorio",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Nicanor",
"family": "Quijano",
"literal": null,
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"affiliation": []
}
},
{
"given": "Eduardo",
"family": "Mojica-Nava",
"literal": null,
"source_fields": {
"sequence": "additional",
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}
},
{
"given": "Jorge",
"family": "Sofrony",
"literal": null,
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}
}
],
"abstract": "In recent years, the control technique interconnection and damping assignment-passivity based control (IDA-PBC) has been a very important topic of research, this is because of the energetic interpretation that it gives to the problem of controlling systems with Port-Hamiltonian structure. This paper addresses the problem of finding suitable interconnection and damping matrices based on the bond graph modeling technique, complementing the methodology to achieve a more systematic procedure and gives an example in which the technique can be applied to control the dynamics of a vehicle suspension.",
"container_title": "2016 IEEE Conference on Control Applications (CCA)",
"publication_year": "2016",
"volume": "",
"issue": "",
"pages": "1098--1103",
"publisher": "IEEE",
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"created_date": "2016-10-20",
"permalink": "bond-graph-model-based-for-ida-pbc",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/j.simpat.2008.02.012"
},
"citation": "Donaire, A. & Junco, S. Energy shaping, interconnection and damping assignment, and integral control in the bond graph domain. Simulation Modelling Practice and Theory 17, 152–174 (2009)"
},
{
"identifiers": {
"doi": "10.1109/tac.2008.2006930"
},
"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 53, 2527–2542 (2008)"
},
{
"identifiers": {
"doi": "10.1109/cdc.1999.832798"
},
"citation": "Petrovic, V., Ortega, R. & Stankovic, A. M. A globally convergent energy-based controller for PM synchronous motors. Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) vol. 1 334–340"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(02)00177-2"
},
"citation": "Galaz, M., Ortega, R., Bazanella, A. S. & Stankovic, A. M. An energy-shaping approach to the design of excitation control of synchronous generators. Automatica 39, 111–119 (2003)"
},
{
"identifiers": {
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},
"citation": "Batlle, C., Dòria-Cerezo, A., Espinosa-Pérez, G. & Ortega, R. Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples. Lecture Notes in Control and Information Sciences 157–169 doi:10.1007/978-3-540-73890-9_12"
},
{
"identifiers": {
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},
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},
{
"identifiers": {},
"citation": "renton, Active control of car suspension systems using ida-pbc. Proc Australian Control Conference (AUCC) (2012)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
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},
{
"identifiers": {
"doi": "10.1561/2600000002"
},
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}
]
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{
"id": "dccaa11a-bf8c-505e-a61f-89bea2b73ff5",
"identifiers": {
"doi": "10.1109/ccac.2019.8921015"
},
"type": "proceedings-article",
"title": "PBC Design for Voltage Regulation in Buck Converters with Parametric Uncertainties",
"authors": [
{
"given": "Oscar Danilo",
"family": "Montoya",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "J. L.",
"family": "Villa",
"literal": null,
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"affiliation": []
}
},
{
"given": "Walter",
"family": "Gil-Gonzale",
"literal": null,
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"abstract": "This paper addresses the problem of voltage output regulation in DC Buck converters from the passivity-based control (PBC) point of view. The PBC takes advantage of the natural port-Hamiltonian representation of dynamic equations of the buck converter, to design a feedback controller with proportionalintegral gains, that allows to guarantee stability conditions in the sense of Lyapunov for closed-loop operation. The design of the controller is based on the incremental dynamic model of the buck converter. The PBC approach considers unknown resistive loads in the controller design without degrading the dynamic performance of the controller. In addition, the proposed approach allows to design a controller regardless the buck parameters (capacitance and inductance) which makes it robust to parametric uncertainties. Sliding planes and classical PI control methods are used for comparing the proposed PBC method. All simulations have been performed in MATLAB software by using SymPowerSystems library.",
"container_title": "2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)",
"publication_year": "2019",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2019-12-06",
"permalink": "pbc-design-for-voltage-regulation-in-buck-converters-with-parametric-uncertainties",
"references": [
{
"identifiers": {
"doi": "10.1049/iet-cta.2016.1501"
},
"citation": "Cavanini, L., Cimini, G., Ippoliti, G. & Bemporad, A. Model predictive control for pre‐compensated voltage mode controlled DC–DC converters. IET Control Theory & Applications vol. 11 2514–2520 (2017)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2015.2431193"
},
"citation": "Ling, R., Maksimovic, D. & Leyva, R. Second-Order Sliding-Mode Controlled Synchronous Buck DC–DC Converter. IEEE Transactions on Power Electronics vol. 31 2539–2549 (2016)"
},
{
"identifiers": {
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"type": "proceedings-article",
"title": "Power Transference Controller Design between two DC Microgrids Interconnected via an Interleaved Boost Converter: A PI-PBC Approach",
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"abstract": "This paper deals with the output voltage regulation problem in a direct current (DC) microgrid interfaced through an interleaved boost converter while the power transference is indirectly controlled. The interleaved boost converter is modeled using the averaging modeling theory to obtain a continuous bilinear dynamical model using a port-Hamiltonian (pH) representation. The pH representation is used to design an efficient controller with proportional and integral action that preserves the passive structure of the model during the closed-loop operation via passivity-based control theory (i.e., a PI-PBC design). At the same time, stability properties in the sense of Lyapunov are ensured. The proposed PI-PBC controller is compared against a nonlinear one based on the exact feedback control (EFC) theory. Numerical simulations in the PLECs software for MATLAB/Simulink reveal the effectiveness of the proposed EFL control in comparison with the EFC design when voltage and power variations are simultaneously tested.",
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},
{
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"doi": "10.1109/apec.2015.7104769"
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{
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"doi": "10.1109/tie.2019.2939991"
},
"citation": "Prabhakaran, P. & Agarwal, V. Novel Boost-SEPIC Type Interleaved DC–DC Converter for Mitigation of Voltage Imbalance in a Low-Voltage Bipolar DC Microgrid. IEEE Transactions on Industrial Electronics vol. 67 6494–6504 (2020)"
},
{
"identifiers": {
"doi": "10.1109/pedes49360.2020.9379623"
},
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},
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{
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{
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},
{
"identifiers": {
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"doi": "10.1109/argencon55245.2022.9939912"
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"citation": "Montoya, O. D., Trujillo-Rodriguez, C. L., Gil-Gonzalez, W., Serra, F. M. & Asensio, E. M. Inverse Optimal Control Applied to Output Voltage Regulation in an Interleaved Boost Converter for Battery Applications. 2022 IEEE Biennial Congress of Argentina (ARGENCON) 1–7 (2022) doi:10.1109/argencon55245.2022.9939912"
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"identifiers": {
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"doi": "10.1109/ccac64704.2025.11259308"
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"type": "proceedings-article",
"title": "Passivity-Based PI Control of Boost Converters with Gain Scheduling in Continuous Conduction Mode",
"authors": [
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"given": "Francisco Daniel",
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"name": "Universidad Nacional de San Luis,Laboratorio de Control Automático Facultad de Ingeniería y Ciencias Agropecuarias,Villa Mercedes,San Luis,Argentina"
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"given": "Federico Martin",
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"name": "Universidad Nacional de San Luis,Laboratorio de Control Automático Facultad de Ingeniería y Ciencias Agropecuarias,Villa Mercedes,San Luis,Argentina"
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"given": "Oscar Danilo",
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"abstract": "Using a proportional-integral passivity-based control (PI-PBC) framework, this paper addresses the modeling and nonlinear control of a DC-DC boost converter operating in continuous conduction mode (CCM). The converter is first described through an averaged state-space model, which is reformulated as a port-Hamiltonian (pH) structure to facilitate energy-based control design. A PI-PBC law is proposed using component-wise error signals, and its stability is rigorously demonstrated via Lyapunov analysis. To improve dynamic performance across varying operating points, a gain-scheduling formulation is introduced, allowing the control gains to adapt as functions of the desired equilibrium state. The simulation results confirm that the proposed PI-PBC strategy provides accurate voltage regulation and fast transient response while ensuring continuous conduction. The controller exhibits robustness under reference changes and load disturbances, and the gain-scheduled designs outperform constant-gain implementations in terms of overshoot reduction and settling time.",
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"references": [
{
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{
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{
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{
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{
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},
{
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{
"identifiers": {
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{
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{
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{
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{
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},
{
"identifiers": {
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},
"citation": "Montoya OD, Trujillo CL, Gil-González W (2023) Power Transference Controller Design between two DC Microgrids Interconnected via an Interleaved Boost Converter: A PI-PBC Approach. 2023 IEEE 6th Colombian Conference on Automatic Control (CCAC) 1–"
},
{
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},
{
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{
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"type": "proceedings-article",
"title": "Interconnection and damping assignment passivity-based excitation control of power systems",
"authors": [
{
"given": null,
"family": "Jianyong Li",
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{
"given": null,
"family": "Yanhong Liu",
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{
"given": null,
"family": "Chunwen Li",
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"given": null,
"family": "Lijun Zhang",
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"abstract": "Interconnection and damping assignment passivity-based control (IDA-PBC) is a technique that regulates the behavior of nonlinear systems by assigning a desired port-controlled Hamiltonian structure. In this paper, based on the original dissipative Hamiltonian realization of a single-machine-infinite-bus power system, we design a controller to re-formulate the interconnection matrix and stabilize the power system. Simulation result verifies the effectiveness of the proposed control scheme.",
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"issue": "",
"pages": "954--958",
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{
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{
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},
{
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{
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{
"identifiers": {
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},
{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2001.980360"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems and its application to a magnetic levitation system. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) 3388–3393 doi:10.1109/cdc.2001.980360"
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"identifiers": {
"doi": "10.1109/tac.2008.2006930"
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"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 53, 2527–2542 (2008)"
},
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1007/978-3-7091-2774-2_9"
},
"citation": "Schaft, A. J. Port-Hamiltonian Systems: Network Modeling and Control of Nonlinear Physical Systems. Advanced Dynamics and Control of Structures and Machines 127–167 (2004) doi:10.1007/978-3-7091-2774-2_9"
},
{
"identifiers": {
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"doi": "10.1109/ccdc.2014.6852406"
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"type": "proceedings-article",
"title": "Full speed range control of IPMSM for electric vehicles based on Hamiltonian theory",
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{
"given": null,
"family": "Xudong Liu",
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"given": "Ke",
"family": "Li",
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"given": "Chenghui",
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"abstract": "The full speed range stabilizing control of interior permanent magnet synchronous motor(IPMSM)for electric vehicles based on Port-Controlled Hamiltonian(PCH)theory is proposed in this paper. First, the Hamiltonian stabilizing control of IPMSM is realized using energy-shaping method of interconnection and damping assignment. Then the desired equilibrium is acquired by maximum torque per current(MTPA) and field-weakening control. Finally, the load torque observer is designed and the controller design is developed when the load torque is unknown. The simulation results show that the proposed method has good speed tracking performance and anti-disturbance ability in the full speed range, and the theory contributes to the improvement of control performance in the electric vehicle.",
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"identifiers": {},
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{
"identifiers": {
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{
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},
{
"identifiers": {
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},
{
"identifiers": {},
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{
"identifiers": {},
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},
{
"identifiers": {
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{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "yu, Hamiltonian modeling and IDA passivity-based control of permanent magnet synchronous motor. Electric Machines and Control (2006)"
},
{
"identifiers": {
"doi": "10.1007/s11768-008-7193-9"
},
"citation": "González, H., Duarte-Mermoud, M. A., Pelissier, I., Travieso-Torres, J. C. & Ortega, R. A novel induction motor control scheme using IDA-PBC. J. Control Theory Appl. 6, 59–68 (2008)"
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{
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{
"identifiers": {},
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},
{
"identifiers": {},
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}
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"doi": "10.1109/ccdc.2015.7162714"
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"title": "Sliding-mode and PCH control of three phase PWM rectifier",
"authors": [
{
"given": "Yu",
"family": "Gu",
"literal": null,
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{
"given": "Haisheng",
"family": "Yu",
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"abstract": "A sliding-mode and port-controlled Hamiltonian(PCH)controller, suitable for the output voltage control of three phase voltage source pulse width modulation (PWM) rectifier is proposed in order to overcome the big fluctuation of output voltage due to external disturbances. The sliding-mode control algorithm is used to calculate the instruction current in dq rotating coordinate and the PCH controller is designed by port-controlled Hamiltonian method. The PCH controller parameters are obtained by using the method of interconnection and damping assignment to ensure system stability. Simulation results show that the rectifier controlled by sliding-mode and PCH method possesses good robustness and dynamic performance when load, supply voltage and output reference variations.",
"container_title": "The 27th Chinese Control and Decision Conference (2015 CCDC)",
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{
"identifiers": {},
"citation": "yao, Simulation of three-phase voltage source PWM rectifier based on sliding-mode control. Journal of System Simulation (2007)"
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{
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{
"identifiers": {
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{
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
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{
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{
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{
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{
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},
{
"identifiers": {},
"citation": "yu, Hamiltonian modeling and IDA passivity-based control of permanent magnet synchronous motor. Electric Machines and Control (2006)"
},
{
"identifiers": {},
"citation": "yu, Port-Hamiltonian system modeling and position tracking control of PMSM based on maximum output power principle. ICIC Express Letters (2012)"
},
{
"identifiers": {
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{
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}
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"doi": "10.1109/ccdc.2016.7531531"
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"type": "proceedings-article",
"title": "Research on PMSM sensor-less system based on ADRC-PBC strategy",
"authors": [
{
"given": "Ye",
"family": "Han",
"literal": null,
"source_fields": {
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{
"given": "Hong",
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{
"given": "Wanting",
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"abstract": "The paper proposes a control strategy which combines Active Disturbance Rejection Control (ADRC) and Passivity-Based Control (PBC) for Permanent Magnet Synchronous Motor (PMSM) sensor-less system. The Port-Controlled Hamiltonian with Dissipation (PCHD) model of PMSM is established, which uses the method of Interconnection and Damping Assignment PBC (IDA-PBC). Adjust the parameters of the current regulator to improve the robustness of the system. To reduce the steady-state error, the ADRC speed regulator is applied to the strategy. To estimate rotor speed and position, Model Reference Adaptive System (MRAS) method is adopted. The results of simulation show that the application of ADRC-PBC control strategy on sensor-less system of PMSM provides smaller steady-state error, better anti-jamming ability and better system dynamic performance.",
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{
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{
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{
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{
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{
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{
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{
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{
"identifiers": {},
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{
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}
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"id": "5d754d80-3c61-51ee-b02c-6b5f40d8d2a3",
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"doi": "10.1109/ccdc.2016.7531931"
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"type": "proceedings-article",
"title": "Optimal controller for interior permanent magnet synchronous motor based on hamiltonian control",
"authors": [
{
"given": "Zhitao",
"family": "Wu",
"literal": null,
"source_fields": {
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},
{
"given": "Fuyun",
"family": "Li",
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{
"given": "Jianying",
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"abstract": "For nonlinear mathematical model of interior permanent magnet Synchronous motor(IPMSM), a speed control system based on the port-controlled Hamiltonian(PCH) is proposed. The controller is designed by the orthogonal decomposition and the method of interconnection and damping assignment Passivity Based Control(IDA-PBC). It is confirmed that the system is stable. A method to obtain damping coefficient is given with that turn the speed control problems into the solving it for first order differential equations with damping coefficient. Then an optimization method is presented that at the same time to consider constraint voltage of the inverter and maximum torque per ampere(MTPA) of the IPMSM, to provide expectations of equilibrium point for Hamilton controller. Simulation results show that the system has well control performance.",
"container_title": "2016 Chinese Control and Decision Conference (CCDC)",
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"volume": "",
"issue": "",
"pages": "5221--5225",
"publisher": "IEEE",
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"references": [
{
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{
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{
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{
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{
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{
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},
{
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"identifiers": {
"doi": "10.1109/ccdc.2016.7532157"
},
"type": "proceedings-article",
"title": "Flux weakening speed control of non-salient pole permanent magnet synchronous motor based on PCH and L2 gain",
"authors": [
{
"given": "Haisheng",
"family": "Yu",
"literal": null,
"source_fields": {
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{
"given": "Zihan",
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{
"given": "Yang",
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{
"given": "Hongchao",
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{
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"abstract": "For the speed control of non-salient pole permanent magnet synchronous motor (PMSM), a novel nonlinear flux weakening control method of port controlled Hamiltonian (PCH) has been proposed in this paper. The control scheme is designed by the PCH control and L2 gain strategies. The calculating of the equilibrium point in the system uses the maximum torque/current principle below the base speed and the flux weakening principle above the base speed. Load torque disturbance always exists in the practical PMSM speed control system and using L2 gain to attenuate it. The PMSM speed control system is asymptotically stable. Simulation results show that the motor can achieve higher speed region with response rapidly, and has good attenuation ability to load torque disturbance.",
"container_title": "2016 Chinese Control and Decision Conference (CCDC)",
"publication_year": "2016",
"volume": "",
"issue": "",
"pages": "6438--6442",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2016-08-15",
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"references": [
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
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},
{
"identifiers": {},
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{
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{
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},
{
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{
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},
{
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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{
"identifiers": {},
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{
"identifiers": {
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},
{
"identifiers": {
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},
{
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}
]
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"id": "bdb8d722-db47-5b0b-b2fe-bde7cd2464d9",
"identifiers": {
"doi": "10.1109/ccdc.2018.8407271"
},
"type": "proceedings-article",
"title": "Formation path-following of multiple underwater vehicles based on fault tolerant control and port-controlled hamiltonian systems",
"authors": [
{
"given": "Pengfei",
"family": "Zhang",
"literal": null,
"source_fields": {
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"abstract": "This paper addresses the path-following formation keeping of a network of multiple autonomous underwater vehicles (AUVs) under unknown and possible time-varying disturbances, while achieving the fault tolerant control. We formulate this problem as the Port-controlled Hamiltonian form, and a feedback control is introduced to symmetrize the non-symmetric part of the inertia matrix caused by the forward speed. And fault tolerant is necessary to be considered due to the fact communication faults occur in the complex ocean environment. In the presence of time-varying disturbances, the internal model is applied to tackle the uncertainties. The passivity enables the closed-loop systems to converge to steady states. Numerical simulation results are given to illustrate the effectiveness of the approach.",
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"issue": "",
"pages": "974--979",
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"references": [
{
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{
"identifiers": {
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{
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{
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{
"identifiers": {
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{
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},
{
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},
{
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},
{
"identifiers": {
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{
"identifiers": {
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"citation": "Chen, S. & Ho, D. W. C. Consensus control for multiple AUVs under imperfect information caused by communication faults. Information Sciences 370–371, 565–577 (2016)"
},
{
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"doi": "10.1109/ccdc.2018.8407890"
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"type": "proceedings-article",
"title": "Robot joint position control based on sliding mode and the port-controlled hamiltonian method",
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"given": "Xu",
"family": "Xu",
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"given": "Haisheng",
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"given": "Xudong",
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"abstract": "This paper investigates the problem of position tracking control for joint robot systems. A sliding mode control method combined with Port-Controlled Hamiltonian (PCH) is introduced to cope with the chattering problem of joint robot systems only controlled by the sliding mode control scheme. Firstly, the mathematical model of robot system and permanent magnet synchronous motor (PMSM) drive system are given in this paper. Then, the sliding mode control technique is utilized to design signal controllers for fast steady-state performance. And the PCH method is used for constructing energy controllers to decreasing energy losses. In addition, a coordination strategy is constructed to coordinate sliding mode control and PCH control for obtaining satisfactory control performance. Finally, the simulation results are presented to show the effectiveness of the method proposed in this paper.",
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"issue": "",
"pages": "4392--4397",
"publisher": "IEEE",
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"references": [
{
"identifiers": {},
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{
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"doi": "10.1109/tfuzz.2011.2152815"
},
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},
{
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{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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"citation": "Yu, H., Liu, X., Yu, J. & Song, Q. Position tracking control of PMSM based on state error PCH and MTPA principle. 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM) 113–118 (2011) doi:10.1109/ramech.2011.6070466"
},
{
"identifiers": {},
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{
"identifiers": {
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{
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{
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{
"identifiers": {
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"doi": "10.1109/ccdc49329.2020.9163818"
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"type": "proceedings-article",
"title": "Sliding mode disturbance observer-based the port-controlled Hamiltonian control for a four-tank liquid level system subject to external disturbances",
"authors": [
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"given": "Xiangxiang",
"family": "Meng",
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"given": "Haisheng",
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"given": "Herong",
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"abstract": "In this paper, a new port-controlled Hamiltonian(PCH) method based on disturbance observer is proposed considering the presence of disturbance in a four-tank liquid level system. Firstly, the PCH model of the four-tank the liquid level system is established by using PCH principle. secondly, the basic feedback controller is designed by configuring the interconnection structure and damping injection. Thirdly, a nonlinear disturbance observer is designed to suppress the disturbance in the four-tank liquid level system. Finally, the simulation results show that the proposed control strategy has better steady-state performance and robustness than the terminal sliding mode control method.",
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"pages": "1720--1725",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
"identifiers": {
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{
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{
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{
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"doi": "10.1109/ccdc52312.2021.9602808"
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"type": "proceedings-article",
"title": "Observer-based finite time robust stabilization of mechanical arm systems",
"authors": [
{
"given": "Xin",
"family": "Shi",
"literal": null,
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{
"given": "Renming",
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"given": "Jiankuo",
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"given": "Haiying",
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"abstract": "In this paper, by applying the Hamiltonian function method, we study the robust stabilization problem for a class of two degree of freedom mechanical arm based on finite time observer. Firstly, the two degree of freedom mechanical arm system is transformed into a Port Controlled Hamiltonian (PCH) model, based on which we design its finite time observer system. Secondly, a robust stabilization controller based on finite time observer is designed by using dimension expansion technique and Lyapunov stability theory and some new robust stabilization results based on finite time observer are given. Different from existing stabilization results on the infinite-time observer, under the finite-time observer designed, the closed-loop system can converge quickly and has good robustness when it is disturbed by external environment.",
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"pages": "3061--3066",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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}
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"doi": "10.1109/ccdc65474.2025.11090592"
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"type": "proceedings-article",
"title": "Uncalibrated Visual Servo Control Using Adaptive Kalman Filtering for Robots Driven by DC Motors",
"authors": [
{
"given": "Xueqi",
"family": "Mou",
"literal": null,
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"name": "School of Automation, Qingdao University,Qingdao,China"
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"name": "School of Automation, Qingdao University,Qingdao,China"
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},
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"given": "Xiangxiang",
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"abstract": "Traditional uncalibrated visual servo control faces challenges in achieving accurate target positioning at the robot end-effector, since the filtering parameters are not sensitive to environmental changes. In this article, the designed adaptive Kalman filtering algorithm is utilized to estimate the image Jacobian matrix, reinforcing the robustness of the robot system. Dependent on this estimation, the visual servo controller is formulated, generating the joint control signal of the robot driven by direct current motors. Besides, considering energy transformation based control, error port-controlled Hamiltonian method is introduced to enhance the stability and accurate performance of joint servo control. Simulation and experimental results demonstrate that the designed control strategy achieves faster and more accurate location of the target.",
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"references": [
{
"identifiers": {
"doi": "10.1109/tcst.2024.3415236"
},
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},
{
"identifiers": {
"doi": "10.1016/j.isatra.2023.10.029"
},
"citation": "Zhu N, Xie W-F, Shen H (2024) Position-based visual servoing of a 6-RSS parallel robot using adaptive sliding mode control. ISA Transactions 144:398–408. https://doi.org/10.1016/j.isatra.2023.10.02"
},
{
"identifiers": {
"doi": "10.1109/tsmc.2024.3420882"
},
"citation": "Xie Z, Zheng Y, Jin L (2024) A Data-Driven Image-Based Visual Servoing Scheme for Redundant Manipulators With Unknown Structure and Singularity Solution. IEEE Trans Syst Man Cybern, Syst 54(10):6230–6241. https://doi.org/10.1109/tsmc.2024.342088"
},
{
"identifiers": {
"doi": "10.1016/j.mechmachtheory.2023.105508"
},
"citation": "da Silva MM, Colombo FT, de Oliveira GC, de Oliveira LPR (2024) Hybrid vision/strain-based control strategy for a parallel manipulator with flexible links. Mechanism and Machine Theory 191:105508. https://doi.org/10.1016/j.mechmachtheory.2023.10550"
},
{
"identifiers": {
"doi": "10.1109/tie.2022.3172778"
},
"citation": "Li T, Yu J, Qiu Q, Zhao C (2023) Hybrid Uncalibrated Visual Servoing Control of Harvesting Robots With RGB-D Cameras. IEEE Trans Ind Electron 70(3):2729–2738. https://doi.org/10.1109/tie.2022.317277"
},
{
"identifiers": {
"doi": "10.1109/tmech.2023.3341914"
},
"citation": "Li Z, Lai B, Pan Y (2024) Image-Based Composite Learning Robot Visual Servoing With an Uncalibrated Eye-to-Hand Camera. IEEE/ASME Trans Mechatron 29(4):2499–2509. https://doi.org/10.1109/tmech.2023.334191"
},
{
"identifiers": {
"doi": "10.1016/j.jfranklin.2024.107048"
},
"citation": "Wang C, Yang L, Chen Y, Lai G (2024) Adaptive fault-tolerant control for uncalibrated camera–robot system with multiple uncertainties. Journal of the Franklin Institute 361(14):107048. https://doi.org/10.1016/j.jfranklin.2024.10704"
},
{
"identifiers": {
"doi": "10.1016/j.conengprac.2022.105363"
},
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},
{
"identifiers": {
"doi": "10.1109/lcsys.2024.3351559"
},
"citation": "Li Z, Li W, Pan Y (2024) Composite Learning Image-Based Visual Servoing of Redundant Robots With Nullspace Compliance. IEEE Control Syst Lett 8:315–320. https://doi.org/10.1109/lcsys.2024.335155"
},
{
"identifiers": {
"doi": "10.1007/s11042-023-16381-y"
},
"citation": "Zhou Z, Guo J, Zhu Z, Guo H (2023) Uncalibrated visual servoing based on Kalman filter and mixed-kernel online sequential extreme learning machine for robot manipulator. Multimed Tools Appl 83(7):18853–18879. https://doi.org/10.1007/s11042-023-16381-"
},
{
"identifiers": {
"doi": "10.1109/tcyb.2022.3227470"
},
"citation": "Tan N, Yu P, Zheng W (2024) Uncalibrated and Unmodeled Image-Based Visual Servoing of Robot Manipulators Using Zeroing Neural Networks. IEEE Trans Cybern 54(4):2446–2459. https://doi.org/10.1109/tcyb.2022.322747"
},
{
"identifiers": {
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},
{
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"doi": "10.1080/01691864.2024.2358424"
},
"citation": "Wang Y, Shimizu Y, Wu J, Wang Y, Kamegawa T, Gofuku A, Asama H (2024) Fault-tolerant joint state feedback adaptive control for snake robots that move through random pole environments. Advanced Robotics 38(13):880–895. https://doi.org/10.1080/01691864.2024.235842"
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{
"identifiers": {
"doi": "10.1016/j.robot.2024.104843"
},
"citation": "Zhu Y, Zhu J, Zhang P (2025) Local obstacle avoidance control for multi-axle and multi-steering-mode wheeled robot based on window-zone division strategy. Robotics and Autonomous Systems 183:104843. https://doi.org/10.1016/j.robot.2024.10484"
},
{
"identifiers": {
"doi": "10.1016/j.engappai.2024.109515"
},
"citation": "Chaudhary KS, Kumar N (2025) Hybrid neural network-based fractional-order sliding mode controller for tracking control problem of reconfigurable robot manipulators using fast terminal type switching law. Engineering Applications of Artificial Intelligence 139:109515. https://doi.org/10.1016/j.engappai.2024.10951"
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"doi": "10.1016/j.oceaneng.2024.119473"
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"citation": "Liang Z, Wen H, Yao B, Mao Z, Lian L (2024) Event-triggered adaptive fault-tolerant control for marine vehicles with multiple faults and environmental disturbance. Ocean Engineering 313:119473. https://doi.org/10.1016/j.oceaneng.2024.11947"
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{
"identifiers": {
"doi": "10.1016/j.conengprac.2024.106073"
},
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{
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"doi": "10.1109/tpel.2024.3516047"
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"citation": "Meng X, Yu H, Zhang J, Yang Q, Fu C (2025) Adaptive Fault-Tolerant Cooperative Optimization Control for PMSM Servo System With Input Saturation and Multisource Disturbances. IEEE Trans Power Electron 40(5):6506–6518. https://doi.org/10.1109/tpel.2024.351604"
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{
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"doi": "10.1007/s12555-022-1196-z"
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"citation": "Sandoval J, Kelly R, Santibáñez V, Moreno-Valenzuela J, Cervantes-Pérez L (2024) Partial Potential Energy Shaping Control of Torque-Driven Robot Manipulators in Joint Space. Int J Control Autom Syst 22(7):2230–2241. https://doi.org/10.1007/s12555-022-1196-"
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"doi": "10.1109/ccdc65474.2025.11091128"
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"title": "Position Cooperative Control of PMSM Based on Error Port Hamiltonian and Fractional Order Dynamic Surface SMC",
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"given": "Yongsheng",
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"references": [
{
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"doi": "10.1109/tpel.2022.3141375"
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"citation": "Yu, K. & Wang, Z. Improved Deadbeat Predictive Current Control of Dual Three-Phase Variable-Flux PMSM Drives With Composite Disturbance Observer. IEEE Trans. Power Electron. 37, 8310–8321 (2022)"
},
{
"identifiers": {
"doi": "10.1109/tie.2021.3137587"
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"citation": "Tang, B. et al. A Novel Position Speed Integrated Sliding Mode Variable Structure Controller for Position Control of PMSM. IEEE Trans. Ind. Electron. 69, 12621–12631 (2022)"
},
{
"identifiers": {
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},
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{
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"doi": "10.1007/s42835-023-01624-7"
},
"citation": "Chen, Y., Yu, H., Meng, X., Ding, H. & Gao, X. Cooperative Control of LQ-Feedback Linearization and Error Port-Hamiltonian System for PMSM with NDOB. J. Electr. Eng. Technol. 19, 1439–1457 (2023)"
},
{
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"doi": "10.1109/tpel.2019.2933613"
},
"citation": "Wang, Y., Feng, Y., Zhang, X. & Liang, J. A New Reaching Law for Antidisturbance Sliding-Mode Control of PMSM Speed Regulation System. IEEE Trans. Power Electron. 35, 4117–4126 (2020)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1007/s12206-017-0641-z"
},
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},
{
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"doi": "10.1109/tmech.2017.2766279"
},
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},
{
"identifiers": {
"doi": "10.1007/s11071-012-0689-3"
},
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},
{
"identifiers": {
"doi": "10.1007/s11071-023-08243-x"
},
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{
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"doi": "10.1016/j.isatra.2020.05.032"
},
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},
{
"identifiers": {
"doi": "10.1109/tcyb.2016.2645763"
},
"citation": "Wang, W. & Tong, S. Adaptive Fuzzy Bounded Control for Consensus of Multiple Strict-Feedback Nonlinear Systems. IEEE Trans. Cybern. 48, 522–531 (2018)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2024.3516047"
},
"citation": "Meng, X., Yu, H., Zhang, J., Yang, Q. & Fu, C. Adaptive Fault-Tolerant Cooperative Optimization Control for PMSM Servo System With Input Saturation and Multisource Disturbances. IEEE Trans. Power Electron. 40, 6506–6518 (2025)"
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"doi": "10.1109/cce67728.2025.11271991"
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"type": "proceedings-article",
"title": "Adaptive PI-PBC Performance via Proportional Gain Scaling in Single-Phase PWM-CSC under Linear Current Demand",
"authors": [
{
"given": "Angélica Mercedes",
"family": "Nivia-Vargas",
"literal": null,
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"name": "Estudiante de Doctorado en Ingeniería, Universidad Distrital Francisco José de Caldas,Bogotá,Colombia"
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{
"given": "Oscar Danilo",
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"name": "Universidad Distrital Francisco José de Caldas,Facultad de Ingeniería,Bogotá,Colombia"
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{
"given": "Nelsón Leonardo",
"family": "Díaz",
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"name": "Universidad Distrital Francisco José de Caldas,Facultad de Ingeniería,Bogotá,Colombia"
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"abstract": "This paper presents the design and performance evaluation of a passivity-based proportional-integral control (PIPBC) strategy for a single-phase pulse-width modulated current source converter (PWM-CSC) supplying a linear load. The control law is derived from a port-Hamiltonian representation of the converter in order to ensure asymptotic stability using a Lyapunov-based approach with component-wise error signals. To improve the transient response and the method's robustness under varying operating conditions, various gain scheduling strategies are examined, including constant gains, inverse scaling, and proportional scaling based on stored energy, as well as interpolation techniques using polynomial functions. The simulation results show that the proportional gain scaling method outperforms the other approaches in terms of the output current's dynamic response and its total harmonic distortion (THD). This strategy strikes a superior balance between settling time, overshoot, and harmonic attenuation, making it a strong alternative for high-performance power electronics applications. This study concludes with a comparative analysis of the implemented control schemes and provides some considerations for future hardware validation.",
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"references": [
{
"identifiers": {
"doi": "10.1002/9781119515661.ch1"
},
"citation": "Bose BK, Wang F (Fred) (2019) ENERGY, ENVIRONMENT, POWER ELECTRONICS, RENEWABLE ENERGY SYSTEMS, AND SMART GRID. Power Electronics in Renewable Energy Systems and Smart Grid 1–8"
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{
"identifiers": {
"doi": "10.1109/tie.2022.3186385"
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"citation": "Bai R, Zhao B, Zhou T, Tang X, Li J, Cui B, Yu Z, Zeng R (2023) PWM-Current Source Converter Based on IGCT-in-Series for DC Buck and Constant-Current Application: Topology, Design, and Experiment. IEEE Trans Ind Electron 70(5):4865–4874. https://doi.org/10.1109/tie.2022.318638"
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{
"identifiers": {
"doi": "10.3390/en18092312"
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"citation": "Tong Y, Salhi I, Wang Q, Lu G, Wu S (2025) Bidirectional DC-DC Converter Topologies for Hybrid Energy Storage Systems in Electric Vehicles: A Comprehensive Review. Energies 18(9):2312. https://doi.org/10.3390/en1809231"
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"doi": "10.1080/00207179.2019.1710768"
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"citation": "Cisneros R, Gao R, Ortega R, Husain I (2020) A PI+passivity-based control of a wind energy conversion system enabled with a solid-state transformer. International Journal of Control 94(9):2453–2463. https://doi.org/10.1080/00207179.2019.171076"
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"doi": "10.1080/00207179.2019.1710768"
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"citation": "Cisneros R, Gao R, Ortega R, Husain I (2020) A PI+passivity-based control of a wind energy conversion system enabled with a solid-state transformer. International Journal of Control 94(9):2453–2463. https://doi.org/10.1080/00207179.2019.171076"
},
{
"identifiers": {
"doi": "10.1109/tie.2025.3536561"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tpel.2008.2005100"
},
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},
{
"identifiers": {
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},
"citation": "Montoya OD, Acevedo O, Gil-González W, Holguín M, Serra FM (2020) On the nonlinear control of a single-phase current source converter for sinusoidal voltage generation. J Phys: Conf Ser 1448(1):012011. https://doi.org/10.1088/1742-6596/1448/1/01201"
},
{
"identifiers": {
"doi": "10.30941/cestems.2020.00027"
},
"citation": "Liu P, Wang Z, Wei S, Bo Y, Pu S (2020) Recent developments of modulation and control for high-power current-source-converters fed electric machine systems. Trans Electr Mach Syst 4(3):215–226. https://doi.org/10.30941/cestems.2020.0002"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tcsii.2023.3299203"
},
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/iecon.2009.5415002"
},
"citation": "Komurcugil H (2009) Nonlinear control strategy for single-phase PWM current-source inverters. 2009 35th Annual Conference of IEEE Industrial Electronics 682–68"
}
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{
"id": "0acbf677-b4bb-5875-a75c-9b334d095758",
"identifiers": {
"doi": "10.1109/ccsse.2017.8087961"
},
"type": "proceedings-article",
"title": "Research of power management for fuel cell/supercapacitors hybrid system based on passivity-based control",
"authors": [
{
"given": "Fan",
"family": "Yang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Shan",
"family": "Liu",
"literal": null,
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}
},
{
"given": "Feiwen",
"family": "Liu",
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"abstract": "This paper focuses on power management strategy for a hybrid system involving the Fuel Cell (FC) as the main power source and the Supercapacitors (SCs) as the auxiliary power source. An innovative Passivity-based Control (PBC) strategy with multi-equilibrium states is proposed. The hybrid system is modeled as a Port-controlled Hamiltonian (PCH) system and then the operating modes and the corresponding multi-equilibrium states of the hybrid system are analyzed. Additionally, the proposed PBC is designed based on Interconnection and Damping Assignment (IDA) method and the stability of the closed-loop system is proven theoretically. The simulation results show that the proposed PBC could stabilize the DC bus voltage without any steady state errors and reasonably balance the power distribution between the FC and the SC.",
"container_title": "2017 3rd IEEE International Conference on Control Science and Systems Engineering (ICCSSE)",
"publication_year": "2017",
"volume": "",
"issue": "",
"pages": "378--382",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2017-11-02",
"permalink": "research-of-power-management-for-fuel-cell-supercapacitors-hybrid-system-based-on-passivity-based-control",
"references": [
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tie.2007.894713"
},
"citation": "Ortuzar, M., Moreno, J. & Dixon, J. Ultracapacitor-Based Auxiliary Energy System for an Electric Vehicle: Implementation and Evaluation. IEEE Trans. Ind. Electron. 54, 2147–2156 (2007)"
},
{
"identifiers": {
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},
{
"identifiers": {},
"citation": "uzunoglu, Modeling and analysis of an FC/UC hybrid vehicular power system usinga novel-wavelet-based load sharing algorithm (2008)"
},
{
"identifiers": {
"doi": "10.1109/tie.2010.2044123"
},
"citation": "Azib, T., Bethoux, O., Remy, G., Marchand, C. & Berthelot, E. An Innovative Control Strategy of a Single Converter for Hybrid Fuel Cell/Supercapacitor Power Source. IEEE Trans. Ind. Electron. 57, 4024–4031 (2010)"
},
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"abstract": "This paper describes the application of the Port Controlled Hamiltonian Network for Modelling and Control of non-linear power system dynamics. Goal of this work is to propose a methodology for system level design for power electronics driven electrical networks able to guarantee large signal stability. Starting from a model-level modular approach, the system is defined using the interconnection concept. The paper focuses on a DC micro-grid scenario where several converters interact with a lumped load. Contrary to previous work, the load is modelled as a Constant Power Load (CPL) introducing new challenges in terms of system stability.",
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"title": "A Scalable Port-Hamiltonian Approach to Plug-and-Play Voltage Stabilization in DC Microgrids",
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"given": "Felix",
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"abstract": "One of the major challenges of voltage stabilization in converter-based DC microgrids are the multiple interacting units displaying intermittent supply behavior. In this paper, we address this by a decentralized scalable, plug-and-play voltage controller for voltage-source converters (VSCs) at primary level. In contrast to existing approaches, we follow a systematic and constructive design based on port-Hamiltonian systems (PHSs) which does neither require the heuristic proposition of a Lyapunov function nor the computation of auxilliary variables such as time-derivatives. By employing the Hamiltonian naturally obtained from the PHS approach as Lyapunov function and using the modularity of passive systems, we provide sufficient conditions under which the designed VSC controllers achieve microgrid-wide asymptotic voltage stability. Integral action (IA), which preserves the passive PHS structure, robustifies the design against unknown disturbances and ensures zero voltage errors in the steady-state. Numerical simulations illustrate the functionality of the proposed voltage controller.",
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"doi": "10.1109/tcst.2018.2834878"
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"citation": "Cucuzzella, M. et al. A Robust Consensus Algorithm for Current Sharing and Voltage Regulation in DC Microgrids. IEEE Transactions on Control Systems Technology vol. 27 1583–1595 (2019)"
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"citation": "Kotyczka, P. Local linear dynamics assignment in IDA-PBC. Automatica vol. 49 1037–1044 (2013)"
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"abstract": "This work investigates the passivity-based control of a class of underactuated mechanical systems for which the momenta are not measurable. To this end, a port-Hamiltonian formulation and a passivity-based control approach are employed. The main contribution is a new dynamic extension of the interconnection-and-damping assignment passivity-based control that only depends on the generalized position. Numerical simulations on an Acrobot system demonstrate that the proposed approach allows stabilizing the prescribed equilibrium by relying only on position feedback.",
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"doi": "10.1109/tac.2002.800770"
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"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Transactions on Automatic Control vol. 47 1218–1233 (2002)"
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"doi": "10.1109/tac.2015.2400663"
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"citation": "Nunna, K., Sassano, M. & Astolfi, A. Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems. IEEE Transactions on Automatic Control vol. 60 2350–2361 (2015)"
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"doi": "10.1002/rnc.6345"
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"citation": "Franco, E. & Astolfi, A. Energy shaping control of underactuated mechanical systems with fluidic actuation. International Journal of Robust and Nonlinear Control vol. 32 10011–10028 (2022)"
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{
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"doi": "10.1016/j.ejcon.2023.100828"
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"citation": "Franco, E. & Astolfi, A. Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics. European Journal of Control vol. 72 100828 (2023)"
},
{
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"doi": "10.1002/rnc.3615"
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"citation": "Donaire, A., Romero, J. G., Ortega, R., Siciliano, B. & Crespo, M. Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances. International Journal of Robust and Nonlinear Control vol. 27 1000–1016 (2016)"
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{
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"doi": "10.1109/tac.2017.2700995"
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"citation": "Ferguson, J., Donaire, A. & Middleton, R. H. Integral Control of Port-Hamiltonian Systems: Nonpassive Outputs Without Coordinate Transformation. IEEE Transactions on Automatic Control vol. 62 5947–5953 (2017)"
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{
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"doi": "10.1109/tac.2018.2797191"
},
"citation": "Ryalat, M. & Laila, D. S. A Robust IDA-PBC Approach for Handling Uncertainties in Underactuated Mechanical Systems. IEEE Transactions on Automatic Control vol. 63 3495–3502 (2018)"
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{
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"doi": "10.1016/j.automatica.2020.108880"
},
"citation": "Ryalat, M., Laila, D. S., ElMoaqet, H. & Almtireen, N. Dynamic IDA-PBC control for weakly-coupled electromechanical systems. Automatica vol. 115 108880 (2020)"
},
{
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"doi": "10.1007/s12555-019-1019-z"
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"citation": "Ryalat, M., Laila, D. S. & ElMoaqet, H. Adaptive Interconnection and Damping Assignment Passivity Based Control for Underactuated Mechanical Systems. International Journal of Control, Automation and Systems vol. 19 864–877 (2020)"
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{
"identifiers": {
"doi": "10.1109/tac.2020.2986731"
},
"citation": "Borja, P., Ortega, R. & Scherpen, J. M. A. New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control. IEEE Transactions on Automatic Control vol. 66 625–636 (2021)"
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"doi": "10.1002/9781119694199"
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"citation": "Ortega, R., Romero, J. G., Borja, P. & Donaire, A. PID Passivity‐Based Control of Nonlinear Systems with Applications. (2021) doi:10.1002/9781119694199"
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"doi": "10.1002/rnc.6885"
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"citation": "Franco, E. Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances. International Journal of Robust and Nonlinear Control vol. 33 10024–10045 (2023)"
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{
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"doi": "10.1002/rnc.7151"
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"citation": "Franco, E., Arpenti, P. & Donaire, A. Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances. International Journal of Robust and Nonlinear Control vol. 34 3565–3585 (2023)"
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"doi": "10.1109/tac.2010.2042010"
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"citation": "Venkatraman, A., Ortega, R., Sarras, I. & van der Schaft, A. Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems. IEEE Transactions on Automatic Control vol. 55 1059–1074 (2010)"
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{
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"citation": "Astolfi, A., Ortega, R. & Venkatraman, A. A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints. Automatica vol. 46 182–189 (2010)"
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"doi": "10.1016/j.ifacol.2021.11.067"
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"citation": "Ferguson, J., Donaire, A. & Middleton, R. H. Passive momentum observer for mechanical systems. IFAC-PapersOnLine vol. 54 131–136 (2021)"
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{
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"doi": "10.1016/j.ifacol.2023.02.063"
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"citation": "Ferguson, J. & McLean, K. Passive momentum observer for nonholonomic systems. IFAC-PapersOnLine vol. 56 373–378 (2023)"
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{
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"citation": "Khalil. Nonlinear systems (2002)"
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{
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"doi": "10.3166/ejc.10.451-468"
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"citation": "Gómez-Estern, F. & Van der Schaft, A. J. Physical Damping in IDA-PBC Controlled Underactuated Mechanical Systems. European Journal of Control vol. 10 451–468 (2004)"
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{
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"doi": "10.1002/rnc.1088"
},
"citation": "D. Mahindrakar, A., Astolfi, A., Ortega, R. & Viola, G. Further constructive results on interconnection and damping assignment control of mechanical systems: the Acrobot example. International Journal of Robust and Nonlinear Control vol. 16 671–685 (2006)"
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"given": "R.",
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"abstract": "Passivity-based control (PBC) has shown to be very powerful to design robust controllers for physical systems described by Euler-Lagrange (EL) equations of motion. The application of PBC in regulation problems of mechanical systems yields controllers that have a clear physical interpretation in terms of interconnection of the system with its environment. In particular, the total energy of the closed-loop is the difference between the energy of the system and the energy supplied by the controller. Furthermore, since the EL structure is preserved in closed-loop, PBC is robust vis a vis unmodeled dissipative effects. Unfortunately, these nice properties are sometimes lost when PBC is used in other applications, for instance, in electrical and electromechanical systems. In this paper we further contribute to develop a new PBC theory encompassing a broader class of systems, and preserving the aforementioned energy-balancing stabilization mechanism and the structure invariance, continuing upon our previous work. Towards this end we consider port-controlled Hamiltonian systems with dissipation (PCHD), which result from the network modeling of energy-conserving lumped-parameter physical systems with independent storage elements, and strictly contain the class of EL models.",
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{
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"doi": "10.1002/rnc.4590050407"
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{
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{
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{
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{
"identifiers": {},
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{
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{
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"title": "Time-varying output feedback stabilization of a class of nonholonomic Hamiltonian systems via canonical transformations",
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"given": "K.",
"family": "Fujimoto",
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"abstract": "The paper is concerned with the output feedback stabilization of a class of nonholonomic systems in port-controlled Hamiltonian formulae via generalized canonical transformations. In order to obtain a dynamic feedback, an integrator is added to the system firstly. Then the generalized canonical transformation is utilized to let the integrator play the role of an estimator of the unmeasurable state based on passivity. This technique can derive a time-varying output feedback stabilizing controller under a certain assumption. Furthermore the effectiveness of the proposed technique is demonstrated via a well known knife edge example.",
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{
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{
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{
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},
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{
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"citation": "fujimoto, Time-varying stabilization of nonholonomic Hamiltonian systems via canonical transformations. Proc American Control Conference (2000)"
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{
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"citation": "fujimoto, Time-varying stabilization of Hamiltonian systems via generalized canonical transformations. Proc IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (2000)"
},
{
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},
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},
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"doi": "10.5687/iscie.11.623"
},
"citation": "FUJIMOTO, K., OGA, A. & SUGIE, T. Nonlinear Controller Design for Linear Systems via the Parametrization of Nonlinear Stabilizing Controllers. Transactions of the Institute of Systems, Control and Information Engineers 11, 623–629 (1998)"
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"identifiers": {
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{
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"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
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"title": "Geometric scattering in tele-manipulation of port controlled Hamiltonian systems",
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"abstract": "We study the interconnection of two port controlled Hamiltonian systems through a transmission line with delay. The contributions of the paper are firstly a geometrical, multi-dimensional, power consistent exposition of tele-manipulation of intrinsically passive controlled (IPC) physical systems (Stramigioli 1998, Stramigioli et al. 1999), with a clarification on impedance matching, and secondly a system theoretic condition for the adaptation of a general port controlled Hamiltonian system with dissipation (PCHD system) to a transmission line. To the knowledge of the authors, the latter result in particular has never appeared in such a general form. Experimental results on an Internet implementation are also presented.",
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{
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{
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{
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{
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{
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{
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"identifiers": {
"doi": "10.1109/cdc.2001.980086"
},
"type": "proceedings-article",
"title": "On stabilization of nonlinear distributed parameter port-controlled Hamiltonian systems via energy shaping",
"authors": [
{
"given": "H.",
"family": "Rodriguez",
"literal": null,
"source_fields": {
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{
"given": "A.J.",
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"abstract": "Energy-shaping techniques have been successfully used for stabilization of nonlinear finite dimensional systems for 20 years now. In particular, for systems described by port-controlled Hamiltonian (PCH) models, the \"control by interconnection\" method provides a simple and elegant procedure for stabilization of nonlinear systems with finite dissipation. We explore the possibility of extending this technique to the case where the plant contains a distributed parameter subsystem, in the form of a transmission line between the plant and the controller.",
"container_title": "Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)",
"publication_year": "2003",
"volume": "1",
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"pages": "131--136",
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"abstract": "Concerns trajectory tracking control of port-controlled Hamiltonian systems based on generalized canonical transformations. A tracking control method for those systems utilizing the passivity property is proposed. First it is shown how to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. Then tracking control of the original system can be achieved by stabilizing the error system via passivity based approach. Furthermore, we apply this method to a magnetic levitation system. Experimental evaluation demonstrates the effectiveness of the proposed method.",
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"abstract": "In this paper we develop an energy-based hybrid control framework for hybrid port-controlled Hamiltonian systems. In particular, we obtain constructive sufficient conditions for hybrid feedback stabilization that provide a shaped energy function for the closed-loop system while preserving a hybrid Hamiltonian structure at the closed-loop level. Furthermore, an inverse optimal hybrid feedback control framework is developed that characterizes a class of globally stabilizing energy-based controllers that guarantee hybrid sector and gain margins to multiplicative input uncertainty of hybrid Hamiltonian systems.",
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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"citation": "Ortega, R., van der Schaft, A. J. & Maschke, B. M. Stabilization of port-controlled Hamiltonian systems via energy balancing. Lecture Notes in Control and Information Sciences 239–260 (1999) doi:10.1007/1-84628-577-1_13"
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"citation": "Haddad, W. M. et al. Non-linear impulsive dynamical systems. Part I: Stability and dissipativity. International Journal of Control 74, 1631–1658 (2001)"
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"citation": "Haddad, W. M. & Chellaboina, V. Dissipativity theory and stability of feedback interconnectionsfor hybrid dynamical systems. Mathematical Problems in Engineering 7, 299–335 (2001)"
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"citation": "Haddad, W. M., Chellaboina, V. S. & Neresov, S. G. On the equivalence between dissipativity and optimality of nonlinear hybrid controllers. Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) vol. 2 1403–1408"
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"abstract": "In this paper, an introduction to scattering for infinite dimensional systems within the framework of port Hamiltonian systems is presented. The classical results on wave propagation can be extended to generic power propagation phenomena, for example to fluid dynamics or flexible structures. The key-point is the generalization of the concept of impedance to other domains than the electromagnetic one.",
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"abstract": "The problem of approximating a distributed parameter system with free boundary conditions is solved for the 1-dimensional Telegrapher's equations. The Telegrapher's equations are described using an infinite-dimensional port-Hamiltonian model, and we derive a finite dimensional port-Hamiltonian model using a mixed finite-element procedure. We show that energy conservation, passivity and some dynamic invariants are preserved in the discretization.",
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{
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"abstract": "Interconnection and damping assignment passivity-based control is a technique that regulates the behavior of nonlinear systems assigning a desired (port-controlled Hamiltonian) structure to the closed-loop. Since the introduction of this controller design methodology five years ago (1999), many theoretical extensions and practical applications have been reported in the literature. The theoretical developments include some variations and shortcuts that are useful when dealing with particular classes of systems, and the incorporation of additional features to handle control scenarios other than just stabilization. On the application side the method has provided solutions to a wide variety of physical problems. The purpose of this paper is to review the fundamental theory of this control system design approach. Main new results and practical applications as well as current open problems and future directions are discussed in a companion paper.",
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"citation": "Garcia-Canseco, E., Astolfi, A. & Ortega, R. Interconnection and damping assignment passivity-based control: towards a constructive procedure - Part II. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 3418-3423 Vol.4 (2004) doi:10.1109/cdc.2004.1429237"
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},
{
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{
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{
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{
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{
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{
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{
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{
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"type": "proceedings-article",
"title": "Port Hamiltonian formulation of infinite dimensional systems I. Modeling",
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"family": "Macchelli",
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"abstract": "In this paper, some new results concerning the modeling of distributed parameter systems in port Hamiltonian form are presented. The classical finite dimensional port Hamiltonian formulation of a dynamical system is generalized in order to cope with the distributed parameter and multivariable case. The resulting class of infinite dimensional systems is quite general, thus allowing the description of several physical phenomena, such as heat conduction, piezoelectricity and elasticity. Furthermore, classical PDEs can be rewritten within this framework. The key point is the generalization of the notion of finite dimensional Dirac structure in order to deal with an infinite dimensional space of power variables.",
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{
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{
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},
{
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{
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{
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{
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},
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{
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"citation": "Maschke, B. M. & van der Schaft, A. J. Interconnection of systems: the network paradigm. Proceedings of 35th IEEE Conference on Decision and Control vol. 1 207–212"
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"title": "Port Hamiltonian formulation of infinite dimensional systems II. Boundary control by interconnection",
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"given": "A.",
"family": "Macchelli",
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"abstract": "In this paper, some new results concerning the boundary control of distributed parameter systems in port Hamiltonian form are presented. The classical finite dimensional port Hamiltonian formulation of a dynamical system has been generalized to the distributed parameter and multivariable case by extending the notion of finite dimensional Dirac structure in order to deal with an infinite dimensional space of power variables. Consequently, it seems natural that also finite dimensional control methodologies developed for finite dimensional port Hamiltonian systems can be extended in order to cope with infinite dimensional systems. In this paper, the control by interconnection and energy shaping methodology is applied to the stabilization problem of a distributed parameter system by means of a finite dimensional controller. The key point is the generalization of the definition of Casimir function to the hybrid case, i.e. when the dynamical system to be considered results from the power conserving interconnection of an infinite and a finite dimensional part. A simple application concerning the stabilization of the one-dimensional heat equation is presented.",
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"pages": "3768--3773 Vol.4",
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"doi": "10.1137/s0363012903429530"
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"citation": "Macchelli, A. & Melchiorri, C. Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach. SIAM Journal on Control and Optimization vol. 43 743–767 (2004)"
},
{
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"citation": "renardy, An Introduction to Partial Differential Equations (2004)"
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{
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"doi": "10.1109/cdc.2001.980086"
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"citation": "Rodriguez, H., van der Schaft, A. J. & Ortega, R. On stabilization of nonlinear distributed parameter port-controlled Hamiltonian systems via energy shaping. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 1 131–136"
},
{
"identifiers": {},
"citation": "macchelli, Control by interconnection and energy shaping of the Timoshenko beam. Mathematical and Computer Modelling of Dynamical Systems (2003)"
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{
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"doi": "10.1109/cdc.2004.1429324"
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"citation": "Macchelli, A., van der Schaft, A. J. & Melchiorri, C. Port Hamiltonian formulation of infinite dimensional systems I. Modeling. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 3762-3767 Vol.4 (2004) doi:10.1109/cdc.2004.1429324"
},
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"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
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},
{
"identifiers": {},
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{
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{
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{
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},
{
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{
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"type": "proceedings-article",
"title": "Disturbance structure decomposition for distributed-parameter port-Hamiltonian systems",
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{
"given": "G.",
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"abstract": "In this paper, a decomposition of a disturbance structure for distributed-parameter port-Hamiltonian systems is presented. A Stokes-Dirac structure can be extended to an externally supplied distributed energy besides an energy exchange through the boundary. First, we show that any disturbance can be decomposed into a boundary energy structure and a distributed energy structure. Next, the system representation is given by the decomposed structures. Finally, two examples are presented.",
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"identifiers": {},
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{
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},
{
"identifiers": {
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"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
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{
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{
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"citation": "Rodriguez, H., van der Schaft, A. J. & Ortega, R. On stabilization of nonlinear distributed parameter port-controlled Hamiltonian systems via energy shaping. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 1 131–136"
}
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"type": "proceedings-article",
"title": "IDA-PBC controller for a bidirectional power flow full-bridge rectifier",
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{
"given": "C.",
"family": "Batlle",
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{
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{
"given": "E.",
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"abstract": "A controller able to support bidirectional power flow in a full-bridge rectifier with boost-like topology is obtained. The controller is computed using port Hamiltonian passivity techniques for a suitable generalized state space averaging truncation of the system, which transforms the control objectives, namely constant output voltage dc-bus and unity input power factor, into a regulation problem. Simulation results for the full system show the correctness of the simplifi-cations introduced to obtain the controller.",
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"pages": "422--426",
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{
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{
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{
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},
{
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{
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{
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{
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{
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{
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"type": "proceedings-article",
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"authors": [
{
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"family": "Haddad",
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{
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{
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"given": "S.G.",
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"abstract": "A novel class of fixed-order, energy-based hybrid controllers is proposed as a means for achieving enhanced energy dissipation in Euler-Lagrange, port-controlled Hamiltonian, and lossless dynamical systems. These dynamic controllers combine a logical switching architecture with continuous dynamics to guarantee that the system plant energy is strictly decreasing across switchings. The general framework leads to closed-loop systems described by impulsive differential equations. In addition, we construct hybrid dynamic controllers that guarantee that the closed-loop system is consistent with basic thermodynamic principles. In particular, the existence of an entropy function for the closed-loop system is established that satisfies a hybrid Clausius-type inequality. Special cases of energy-based hybrid controllers involving state-dependent switching are described.",
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{
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"doi": "10.1109/cdc.2005.1582998"
},
"type": "proceedings-article",
"title": "On the geometrical representation and interconnection of infinite dimensional port controlled Hamiltonian systems",
"authors": [
{
"given": "H.",
"family": "Ennsbrunner",
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{
"given": "K.",
"family": "Schlacher",
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"abstract": "This contribution is dedicated to the geometrical representation of infinite dimensional port controlled Hamiltonian systems. After an introduction of the used mathematical framework, a review on a well established geometrical representation of finite dimensional port controlled Hamiltonian systems is given. These results are in the subsequent analysis extended to the infinite dimensional case. After that the interconnection properties of the proposed description is under investigation. Additionally the developed theory is applied to the derivation of a PCH representation of a membrane interconnected with a string. Finally some concluding remarks are given and future interests are defined.",
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{
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{
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"doi": "10.1109/cdc.2005.1583059"
},
"type": "proceedings-article",
"title": "A class of port-controlled Hamiltonian systems",
"authors": [
{
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"source_fields": {
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{
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"abstract": "In this paper, we examine a particular class of port-controlled Hamiltonian systems for which the equations can be written in a form that is very similar to the equations of a linear passive system. We examine the passivity of such a system around an equilibrium point (u0,x0), which generates the output y0. We show that under some mild assumptions, a new Hamiltonian can be found such that the system is again passive with respect to the new supply rate (y-y0)T(u-u0).",
"container_title": "Proceedings of the 44th IEEE Conference on Decision and Control",
"publication_year": "2006",
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"pages": "5630--5632",
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{
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{
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{
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{
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{
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},
{
"identifiers": {
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},
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"abstract": "Either from a control theoretic viewpoint or from an analysis viewpoint it is necessary to convert smooth systems to discrete systems, which can then be implemented on computers for numerical simulations. Discrete models can be obtained either by discretizing a smooth model, or by directly modeling at the discrete level itself. The goal of this paper is to apply a previously developed discrete modeling technique to study the interconnection of continuous systems with discrete ones in such a way that passivity is preserved. Such a theory has potential applications, in the field of haptics, telemanipulation etc. It is shown that our discrete modeling theory can be used to formalize previously developed techniques for obtaining passive interconnections of continuous and discrete systems.",
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"citation": "Talasila, V., Clemente-Gallardo, J. & Schaft, A. J. van der. Geometry and Hamiltonian mechanics on discrete spaces. J. Phys. A: Math. Gen. 37, 9705–9734 (2004)"
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"citation": "talasila, Hamiltonian mechanics on discrete manifolds. Proceedings of the Sixteenth International Symposium on Mathematical Theory of Networks and Systems Katholieke Universiteit Leuven Belgium (2004)"
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"citation": "Stramigioli, S., Secchi, C., van der Schaft, A. J. & Fantuzzi, C. Sampled data systems passivity and discrete port-Hamiltonian systems. IEEE Trans. Robot. 21, 574–587 (2005)"
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"abstract": "In this paper we propose a definition of control contact systems, generalizing input-output Hamiltonian systems, to cope with models arising from irreversible Thermodynamics. We exhibit a particular subclass of these systems, called conservative, that leaves invariant some Legendre submanifold (the geometric structures associated with thermodynamic properties). These systems, both energy-preserving and irreversible, are then used to analyze the losslessness of these systems with respect to different generating functions.",
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"abstract": "The purpose of this paper is to show how the Mindlin model of a plate can be fruitfully described within the framework of distributed port Hamiltonian systems (dpH systems) so that rather simple and elegant considerations can be drawn regarding both the modeling and control of this mechanical system. Once the distributed port Hamiltonian (dpH) model of the plate is introduced, a simple boundary or distributed control methodology based on damping injection is discussed.",
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},
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{
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"citation": "Macchelli, A., van der Schaft, A. J. & Melchiorri, C. Multi-variable port Hamiltonian model of piezoelectric material. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) vol. 1 897–902"
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"abstract": "The purpose of this study is to establish a unified modeling procedure of distributed port-Hamiltonian formulations for field equations. First, higher order Stokes-Dirac structures on variational complexes of jet bundles are introduced. Next, a one-to-one correspondence between Euler-Lagrange equations and distributed port-Hamiltonian systems is presented. Finally, in the case that the Lagrangian is given, the concrete transformation procedure for distributed port-Hamiltonian systems is explained by using two examples.",
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{
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"citation": "Macchelli, A., van der Schaft, A. J. & Melchiorri, C. Port Hamiltonian formulation of infinite dimensional systems I. Modeling. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 3762-3767 Vol.4 (2004) doi:10.1109/cdc.2004.1429324"
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"abstract": "This contribution is devoted to a nonlinear energy based controller design for plants consisting of a mechanical 1-DOF load system coupled to a general hydraulic actuator. A systematic controller design which maintains the Port Hamiltonian structure of the plant is demonstrated for the case of a double-ended piston with only one servovalve. The developed controller shows good robustness properties and is able to inject additional damping into the load system without velocity measurement. Finally, the performance of the control law is demonstrated by application to a special industrial plant.",
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{
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{
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{
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"doi": "10.1016/s0167-6911(01)00130-x"
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"citation": "Mazenc, F. & Richard, E. Stabilization of hydraulic systems using a passivity property. Systems & Control Letters 44, 111–117 (2001)"
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"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
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"title": "A Finite Dimensional Approximation of the shallow water Equations: The port-Hamiltonian Approach",
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"abstract": "We look into the problem of approximating a distributed parameter port-Hamiltonian system which is represented by a non-constant Stokes-Dirac structure. We here employ the idea where we use different finite elements for the approximation of geometric variables (forms) describing an infinite-dimensional system, to spatially discretize the system and obtain a finite-dimensional port-Hamiltonian system. In particular we take the example of a special case of the shallow water equations",
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"citation": "Van der Schaft, A. J. & Maschke, B. M. Fluid dynamical systems as Hamiltonian boundary control systems. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 5 4497–4502"
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"doi": "10.1016/s0393-0440(01)00083-3"
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"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
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"title": "Vibration control of a building with magneto-rheological-dampers based on interconnection and damping assignment",
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"abstract": "The design of a passivity based control law with interconnection and damping assignment (PBC-IDA) to decrease story displacements of a building subject to seismic excitation is presented. A magneto-rheological damper (MRD), installed between ground and first story, is used as actuator. The building-MRD model is posed in port controlled Hamiltonian equations (PCHE). It incorporates a novel non-linear dynamical model for the damper that guarantees passivity of the building-MRD model. Simulation results indicates large reductions in story displacements",
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"doi": "10.1109/9.847131"
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"citation": "Barahanov, N. & Ortega, R. Necessary and sufficient conditions for passivity of the LuGre friction model. IEEE Trans. Automat. Contr. 45, 830–832 (2000)"
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"citation": "a?lvarez, Real-time identification of magneto-rheological dampers. Proceedings of the 15th IFAC World Congress (2002)"
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"citation": "van der schaft, L2-Gain and Passivity Techniques in Nonlinear Control (1999)"
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"doi": "10.1115/imece2002-33558"
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"citation": "Kruck, K. & Kelkar, A. G. Active Control of Vibrations in Tall Structures Subjected to Earthquake and Wind Disturbances. Dynamic Systems and Control 429–436 (2002) doi:10.1115/imece2002-33558"
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"doi": "10.1007/978-1-4471-3603-3"
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"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
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{
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"doi": "10.1002/stc.58"
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"citation": "Jiménez, R. & Álvarez-Icaza, L. LuGre friction model for a magnetorheological damper. Struct. Control Health Monit. 12, 91–116 (2004)"
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"citation": "(0)"
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"type": "proceedings-article",
"title": "Structured singular values of robotic manipulators and quantitative analysis of passivity based control",
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"given": "Satoru",
"family": "Sakai",
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"abstract": "This paper gives an exact and explicit expression of the structured singular value for robotic manipulators with a passivity based control in port-controlled Hamiltonian form, even though it is NOT possible to give the exact or explicit structured singular value for general systems. First, we focus on dynamics with endlink mass perturbation after the settling time. Second, we derive the exact and explicit structured singular value for manipulators by using structural properties of the dynamics. The derived structured singular value is nothing but the structured singular value of manipulators without control because the passivity based control preserves the Hamiltonian structure. Furthermore, based on the derived structured singular value, we quantitatively analyze the robust stability and performance of robotic manipulators with the passivity based control",
"container_title": "Proceedings of the 45th IEEE Conference on Decision and Control",
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"issue": "",
"pages": "2961--2966",
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"doi": "10.1007/978-1-4471-0507-7"
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"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
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{
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"citation": "zhou, Robust and Optimal Control (1996)"
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{
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{
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"citation": "van der Schaft, A. J. Stabilization of Hamiltonian systems. Nonlinear Analysis: Theory, Methods & Applications 10, 1021–1035 (1986)"
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{
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"doi": "10.1163/1568553053662555"
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"citation": "Arimoto, S., Sekimoto, M., Hashiguchi, H. & Ozawa, R. Natural resolution of ill-posedness of inverse kinematics for redundant robots: a challenge to Bernstein’s degrees-of-freedom problem. Advanced Robotics 19, 401–434 (2005)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
},
{
"identifiers": {},
"citation": "hashiguchi, A challenge to bernstein degrees-of-freedom problem in both cases of human and robotic multijoint movements. IEICE Transactions on Fundamentals of Electronics Communications and Computer Sciences (2005)"
},
{
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"doi": "10.1109/tmech.2003.820006"
},
"citation": "Hui Cheng, Yiu-Kuen Yiu & Zexiang Li. Dynamics and control of redundantly actuated parallel manipulators. IEEE/ASME Trans. Mechatron. 8, 483–491 (2003)"
},
{
"identifiers": {
"doi": "10.1016/s0167-6911(00)00091-8"
},
"citation": "Fujimoto, K. & Sugie, T. Canonical transformation and stabilization of generalized Hamiltonian systems. Systems & Control Letters 42, 217–227 (2001)"
},
{
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"doi": "10.1016/j.automatica.2003.07.005"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
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},
"citation": "Maschke, B. M. & van der Schaft, A. J. A Hamiltonian approach to stabilization of nonholonomic mechanical systems. Proceedings of 1994 33rd IEEE Conference on Decision and Control vol. 3 2950–2954"
},
{
"identifiers": {},
"citation": "maschke, Port-controlled Hamiltonian systems: Modeling origins and system-theoretic properlies. IFAC Symp Nonlinear Control Systems (1992)"
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"doi": "10.1109/cdc.1995.478917"
},
"citation": "Khennouf, H., Canudas de Wit, C. & van der Schaft, A. J. Preliminary results on asymptotic stabilization of Hamiltonian systems with nonholonomic constraints. Proceedings of 1995 34th IEEE Conference on Decision and Control vol. 4 4305–4310"
},
{
"identifiers": {},
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},
{
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"type": "proceedings-article",
"title": "Port-based modelling and geometric reduction for open channel irrigation systems",
"authors": [
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"given": "Boussad",
"family": "Hamroun",
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{
"given": "Laurent",
"family": "Lefevre",
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"abstract": "A port based model for the water flows and levels dynamics in open channel systems is derived. It is structured into dissipative and conservative sub-systems related through a symplectic geometric structure which expresses instantaneous power conservation. This model is equivalent to the classical Saint-Venant equations (nonlinear PDEs also called shallow water equations) but trivially exhibits some interesting properties (passivity, stability, stored energy, entropy production) which may be useful for analysis or control purposes. Therefore the paper then focuses on a reduction scheme which preserves the geometric symplectic structure of the infinite dimensional model. This reduction scheme leads to a reduced port-controlled Hamiltonian finite-dimensional system which is compared with the infinite dimensional model and with other classical reduced models both in terms of spectral and energetic properties.",
"container_title": "2007 46th IEEE Conference on Decision and Control",
"publication_year": "2007",
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"issue": "",
"pages": "1578--1583",
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"references": [
{
"identifiers": {},
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},
{
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
"identifiers": {},
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{
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},
{
"identifiers": {},
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},
{
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},
{
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{
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{
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{
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{
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{
"identifiers": {},
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{
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{
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{
"identifiers": {},
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},
{
"identifiers": {
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},
"citation": "Baume, J.-P., Sau, J. & Malaterre, P.-O. Modelling of irrigation channel dynamics for controller design. SMC’98 Conference Proceedings. 1998 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.98CH36218) vol. 4 3856–3861"
},
{
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},
{
"identifiers": {
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},
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{
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}
]
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"identifiers": {
"doi": "10.1109/cdc.2007.4434262"
},
"type": "proceedings-article",
"title": "Port-representation of bi-Hamiltonian structure for infinite-dimensional symmetry",
"authors": [
{
"given": null,
"family": "Gou Nishida",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": null,
"family": "Masaki Yamakita",
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{
"given": null,
"family": "Zhi-wei Luo",
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"abstract": "In this paper, the port-representation of conservation laws is extended to a wider class of symmetries, the infinite-dimensional symmetry expressed by the bi-Hamiltonian system. It is known from Noether's theorem that a conservation law is associated with an invariant property called a symmetry. In certain cases, the symmetry appears in a system as a hidden infinite-dimensional structure. Such a structure can be defined by using a recursive operator consisting of a Hamiltonian pair and is called a bi-Hamiltonian structure. The bi-Hamiltonian structure induces a hierarchical set of conservation laws. This concept can be used for reducing a system possessing a bi-Hamiltonian structure to simpler port-representations of the conservation laws. Finally, a boundary observer for symmetry destruction is shown.",
"container_title": "2007 46th IEEE Conference on Decision and Control",
"publication_year": "2007",
"volume": "",
"issue": "",
"pages": "5588--5593",
"publisher": "IEEE",
"event": "",
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"references": [
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
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},
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{
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},
{
"identifiers": {},
"citation": "morita, Geometry of Differential Forms A (0)"
},
{
"identifiers": {
"doi": "10.1109/mmbia.2012.6164749"
},
"citation": "Preiswerk, F., Arnold, P., Fasel, B. & Cattin, P. C. Robust tumour tracking from 2D imaging using a population-based statistical motion model. 2012 IEEE Workshop on Mathematical Methods in Biomedical Image Analysis 209–214 (2012) doi:10.1109/mmbia.2012.6164749"
},
{
"identifiers": {
"doi": "10.1007/978-1-4612-4350-2"
},
"citation": "Olver, P. J. Applications of Lie Groups to Differential Equations. Graduate Texts in Mathematics (Springer New York, 1993). doi:10.1007/978-1-4612-4350-2"
},
{
"identifiers": {
"doi": "10.1109/phycon.2005.1514042"
},
"citation": "Eberard, D., Lefevre, L. & Maschke, B. M. Multiscale coupling in heterogeneous diffusion processes : a port-based approach. Proceedings. 2005 International Conference Physics and Control, 2005. 543–547 doi:10.1109/phycon.2005.1514042"
},
{
"identifiers": {},
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},
{
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1137/s0363012903429530"
},
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},
{
"identifiers": {},
"citation": "eberard, conservative systems with ports on contact manifolds. Proc IFAC World Cong (2005)"
},
{
"identifiers": {},
"citation": "maschke, from conservation laws to port-hamiltonian representations of distributed-parameter systems. Proc IFAC World Cong (2005)"
},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2006.376974"
},
"citation": "Nishida, G., Yamakita, M. & Luo, Z. Field Port-Lagrangian Representation of Conservation Laws for Variational Symmetries. Proceedings of the 45th IEEE Conference on Decision and Control 5875–5881 (2006) doi:10.1109/cdc.2006.376974"
},
{
"identifiers": {
"doi": "10.1109/cdc.2005.1583123"
},
"citation": "Gou Nishida & Yamakita, M. Formal Distributed Port-Hamiltonian Representation of Field Equations. Proceedings of the 44th IEEE Conference on Decision and Control 6009–6015 doi:10.1109/cdc.2005.1583123"
}
]
},
{
"id": "89e98c2b-5793-55aa-a6e9-80a3e0c72b0c",
"identifiers": {
"doi": "10.1109/cdc.2007.4434690"
},
"type": "proceedings-article",
"title": "On some frequency domain properties of small signal models of a class of power systems",
"authors": [
{
"given": "Alvaro",
"family": "Giusto",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
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"abstract": "This paper studies frequency domain properties of linear models of a class of power system, characterized by synchronous generators with constant excitation and the absence of resistive loads and leaky lines. A port-controlled Hamiltonian (PCH) representation is given for each component of the network. The corresponding linear model around the equilibrium point is shown to meet a convex condition in the frequency domain, able to be exploited in the stability analysis of interconnected systems. The application of this property to a classical two-areas example shows that it can be computationally exploited even in the case of non-idealized models.",
"container_title": "2007 46th IEEE Conference on Decision and Control",
"publication_year": "2007",
"volume": "",
"issue": "",
"pages": "5441--5446",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2008-01-28",
"permalink": "on-some-frequency-domain-properties-of-small-signal-models-of-a-class-of-power-systems",
"references": [
{
"identifiers": {
"doi": "10.1109/31.62415"
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"title": "A nonlinear friction model for the passivity-based control of underactuated mechanical systems",
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"abstract": "Passivity-based control of underactuated mechanical systems with nonlinear friction effects is analyzed. The port-controlled-Hamiltonian equations of the mechanical system are extended by incorporating a novel dynamic friction model, whose internal states are included as generalized coordinates. The extended Hamiltonian model preserves passivity properties of the LuGre model for the velocity-force pair, with no extra conditions on the friction model parameters. Simulation results are presented for an underactuated double pendulum.",
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"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
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"doi": "10.1109/tac.2005.860292"
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"citation": "Acosta, J. A., Ortega, R., Astolfi, A. & Mahindrakar, A. D. Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one. IEEE Trans. Automat. Contr. 50, 1936–1955 (2005)"
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{
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"doi": "10.1109/tac.2002.800770"
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"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
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"title": "Simultaneous IDA-passivity-based control of a wound rotor synchronous motor",
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"abstract": "This paper presents a new nonlinear passivity-based controller for a wound rotor synchronous machine, acting as a motor drive. From the standard dq-model the control objectives are stated, and the Port-controlled Hamiltonian model is also obtained. A simple power flow study allows to state the control goals in terms of reactive power compensation and ohmic losses reduction. Starting from the Hamiltonian structure, the Simultaneous Interconnection and Damping Assignment (SIDA-PBC) technique is used to develop the control action. The desired robustness of the control action is also taken into account in the design procedure. This results in a globally asymptotically stabilizing controller, which is validated via numerical simulations.",
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{
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{
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{
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{
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},
{
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{
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{
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{
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{
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"type": "proceedings-article",
"title": "On passivity based control of stochastic port-Hamiltonian systems",
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"given": "Satoshi",
"family": "Satoh",
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"abstract": "This paper introduces Stochastic Port-Hamiltonian Systems (SPHS's), whose dynamics are described by Itô stochastic differential equations. SPHS's are extension of the deterministic port-Hamiltonian systems which are used to express various passive systems. First, we show a necessary and sufficient condition to preserve the stochastic port-Hamiltonian structure of the system under a class of coordinate transformations. Second, we derive a condition for the system to be stochastic passive. Third, we equip Stochastic Generalized Canonical Transformations (SGCT's), which are pairs of coordinate and feedback transformations preserving the stochastic port-Hamiltonian structure. Finally, we propose a stochastic stabilization framework based on stochastic passivity and SGCT's.",
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"pages": "4951--4956",
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"references": [
{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.1109/cdc.2008.4738841"
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"type": "proceedings-article",
"title": "Interconnection and Damping Assignment Passivity-Based Control for port-Hamiltonian mechanical systems with only position measurements",
"authors": [
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"given": "D.A.",
"family": "Dirksz",
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"source_fields": {
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{
"given": "J.M.A.",
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"abstract": "A dynamic extension for position feedback of port-Hamiltonian mechanical systems is studied. First we look at the consequences for the matching equations when applying Inter-connection and Damping Assignment Passivity-Based Control (IDA-PBC). Then we look at the possibilities of asymptotically stabilizing a class of port-Hamiltonian mechanical systems without having to know the velocities, as once presented for Euler-Lagrange (EL) systems. Here it is shown how the idea of damping injection by dynamic extension works when shaping the total energy in the port-Hamiltonian framework.",
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"pages": "4957--4962",
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"references": [
{
"identifiers": {},
"citation": "astolfi, dynamic extension is unnecessary for stabilization via interconnection and damping assignment passivity-based control. 40th IEEE Conf Decision and Control (2008)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.451-468"
},
"citation": "Gómez-Estern, F. & Van der Schaft, A. J. Physical Damping in IDA-PBC Controlled Underactuated Mechanical Systems. European Journal of Control vol. 10 451–468 (2004)"
},
{
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"doi": "10.1016/j.sysconle.2005.02.005"
},
"citation": "Cheng, D., Astolfi, A. & Ortega, R. On feedback equivalence to port controlled Hamiltonian systems. Systems & Control Letters vol. 54 911–917 (2005)"
},
{
"identifiers": {
"doi": "10.23919/ecc.2007.7068504"
},
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{
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"doi": "10.1109/tac.2005.860292"
},
"citation": "Acosta, J. A., Ortega, R., Astolfi, A. & Mahindrakar, A. D. Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one. IEEE Transactions on Automatic Control vol. 50 1936–1955 (2005)"
},
{
"identifiers": {
"doi": "10.1109/tac.2002.800770"
},
"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Transactions on Automatic Control vol. 47 1218–1233 (2002)"
},
{
"identifiers": {
"doi": "10.1080/00207170210135939"
},
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},
{
"identifiers": {
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},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control vol. 10 432–450 (2004)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
},
{
"identifiers": {
"doi": "10.1109/9.895562"
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},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "van der schaft, theory of port-hamiltonian systems. Network Modeling and Control of Physical Systems DISC course (2005)"
}
]
},
{
"id": "ef6cef15-07e4-58a1-b52e-b49945801492",
"identifiers": {
"doi": "10.1109/cdc.2008.4738858"
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"type": "proceedings-article",
"title": "Interconnection and Damping Assignment Passivity-Based Control: Static vs dynamic state-feedback",
"authors": [
{
"given": "Alessandro",
"family": "Astolfi",
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"given": "Romeo",
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"abstract": "Interconnection and damping assignment passivity-based control (IDA-PBC) is a technique that regulates the behavior of nonlinear systems assigning a desired (port hamiltonian) structure to the closed-loop. This basic idea, introduced eight years ago, has turned out to be very successful and has provided solutions to a wide variety of physical problems. Although IDA-PBC is originally formulated as a static state-feedback technique it can easily be reformulated to use dynamic controllers. A natural question that arises is whether it is possible to extend the realm of applicability of the method by considering dynamic controllers. More precisely, is the set of plants that is stabilizable with static state-feedback IDA-PBC smaller than the one stabilizable with dynamic IDA-PBC? The main contribution of this paper is to prove that the answer to this question is, unfortunately, negative.",
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"abstract": "This paper discusses topological geometrical aspects and a control strategy for a distributed port-Hamiltonian system with a non-integrable structure called a distributed energy structure. First, we show a geometrical structure of port variables determined by differential forms. Next, we state the necessary condition for regarding the distributed energy structure as a boundary energy structure which is boundary integrable. From these results, we define the fundamental form that generates the distributed port-Hamiltonian system with distributed energy structures in a variational problem. Finally, we present a new concept of boundary controls for the distributed port-Hamiltonian system with distributed energy structures in space-time coordinates.",
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"type": "proceedings-article",
"title": "Modeling for control of an inflatable space reflector, the nonlinear 1-D case",
"authors": [
{
"given": "T.",
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"abstract": "In this paper we develop a mathematical model of the dynamics for an inflatable space reflector, which can be used to design a controller for the shape of the inflatable structure. Inflatable structures have very nice properties, suitable for aerospace applications. We can construct e.g. a huge light weight reflector for a satellite which consumes very little space in the rocket because it can be inflated when the satellite is in the orbit. So with this technology we can build inflatable reflectors which are about 100 times bigger than solid ones. But to be useful for telescopes we have to actively control the surface of the inflatable to achieve the desired surface accuracy. The starting point of the control design is modeling for control, in the case port-Hamiltonian (pH) modeling. We show how to derive a nonlinear infinite dimensional pH model of a 1-D Euler-Bernoulli beam with piezo actuation. In the future we will also focus on 2-D models.",
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"pages": "1777--1782",
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{
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"type": "proceedings-article",
"title": "Passivity based control of a reduced port-controlled hamiltonian model for the shallow water equations",
"authors": [
{
"given": "Boussad",
"family": "Hamroun",
"literal": null,
"source_fields": {
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{
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"abstract": "In this paper an extension of an existing reduced port-controlled hamiltonian (PCH) model for the shallow water equations (PDEs) is first proposed. It aims at a new definition for the passive boundary port-variables which allows the application of a passivity-based approach to control the water flows and levels profiles in irrigation channel reaches. Then a control law based on the Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) methodology is developed. It allows to assign desired structure and energy function to the closed loop system. Simulation results made on a micro-channel simulator are presented, showing the effectiveness of the control law.",
"container_title": "2008 47th IEEE Conference on Decision and Control",
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"issue": "",
"pages": "3917--3922",
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"created_date": "2009-01-20",
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{
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},
"type": "proceedings-article",
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"authors": [
{
"given": "Kenji",
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"literal": null,
"source_fields": {
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{
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"abstract": "This paper is devoted to path following control for port-Hamiltonian systems. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on the phase (co-tangent) spaces instead of those on the velocity (tangent) spaces. Since port-Hamiltonian systems can describe a wider class of systems than conventional mechanical ones, the proposed method is applicable to various systems. Furthermore, by making use of the port-Hamiltonian structure of the closed loop system, we can obtain a novel controller to assign the desired total energy. Moreover, a numerical simulation of a simple nonholonomic system exhibits the effectiveness of the proposed method.",
"container_title": "2008 47th IEEE Conference on Decision and Control",
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"issue": "",
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"publisher": "IEEE",
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"keywords": [],
"created_date": "2009-01-20",
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"doi": "10.1109/cdc.2008.4739266"
},
"type": "proceedings-article",
"title": "A structure preserving minimal representation of a nonlinear port-Hamiltonian system",
"authors": [
{
"given": "Jacquelien M.A.",
"family": "Scherpen",
"literal": null,
"source_fields": {
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}
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{
"given": "Arjan J.",
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"abstract": "In this paper an approach to reduce nonlinear non-observable and non-strongly accessible port-Hamiltonian systems to an observable and strongly accessible port-Hamiltonian system, respectively, is treated. A local state decomposition (the nonlinear version of the Kalman decomposition) is instrumental for the approach that preserves the port-Hamiltonian structure. The strongly accessible reduction scheme goes along similar lines as the linear scheme. However, the observable reduction scheme is somewhat more involved. Under some additional assumptions, the reduction can be performed along the lines of the linear scheme. If these assumptions are not fulfilled, a reduction scheme for a zero-observable representation using duality in the co-energy coordinates is developed. Finally, the possibilities to apply the approaches of this paper to approximate order reduction by e.g., use of balancing procedures, is discussed.",
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"issue": "",
"pages": "4885--4890",
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"abstract": "A port-Hamiltonian formulation of the LuGre friction model is presented that can be used as a building block in the physical modeling of systems with friction. Based on the dissipation structure matrix of this port-Hamiltonian LuGre model, an alternative proof can be given for the passivity conditions that are known in the literature. As a specific example, the interconnection of a mass with the port-Hamiltonian LuGre model is presented. It is shown that the lossless interconnection structure and dissipation structure of the port-Hamiltonian LuGre model are consistent with those of the interconnection. Additionally, to render the friction model continuously differentiable, a smooth re-parametrization of the friction curve is proposed that extends and simplifies the existing results.",
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"abstract": "This paper illustrates a novel model reduction procedure for port-Hamiltonian systems able to preserve the frequency behavior of the original system in a neighborhood of a predefined set of frequencies of interest. This research is part of a wider activity carried out in collaboration with Tetra Pak concerning the modelling and simulation of the Ultrasonic Sealing System (USTS). Due to the presence of a Compact Transducer (CT) that can be modelled only by means of commercial finite element CAE software, which provide extremely high-order dynamical systems, it is not possible to perform a simulation of the complete system to test the validity of the controller and perform the diagnosis of the sealing process in detail. The proposed procedure drastically reduces the simulation time without loosing the essential dynamical information. The model reduction algorithm is validated, at first, by means of a simple benchmark (a beam with a pair of piezo-electric actuators on both sides) and then applied to one piezo-electric actuator of the CT. The application to the whole system is still under development.",
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"abstract": "Port network modeling of physical systems leads directly to an important class of passive state space systems: port-Hamiltonian systems. We consider here methods for model reduction of large scale port-Hamiltonian systems that preserve port-Hamiltonian structure and are capable of yielding reduced order models that satisfy first-order optimality conditions with respect to an H2 system error metric. The methods we consider are closely related to rational Krylov methods and variants are described using both energy and co-energy system coordinates. The resulting reduced models have port-Hamiltonian structure and therefore are guaranteed passive, while still retaining the flexibility to interpolate the true system transfer function at any (complex) frequency points that are desired.",
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"abstract": "The problem of model reduction by moment matching for switched power converters described in so-called port controlled Hamiltonian form is addressed and solved using the recently introduced notion of moment for nonlinear systems. The theory is illustrated by means of simulations on a three-phase rectifier with LCL filter.",
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"doi": "10.1109/cdc.2009.5400785"
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"type": "proceedings-article",
"title": "A state transfer principle for switching port-Hamiltonian systems",
"authors": [
{
"given": "A.J.",
"family": "van der Schaft",
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}
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{
"given": "M.K.",
"family": "Camlibel",
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"abstract": "Instantaneous charge/flux transfers may occur in switched electrical circuits when the switch configuration changes. Characterization of such state discontinuities is a classical issue in circuit theory which, typically, is based on the so-called charge and flux conservation principle. This paper proposes a general state transfer principle for arbitrary switching port-Hamiltonian systems. This new principle coincides with the charge and flux conservation principle in the special case of linear RLC circuits, but also covers circuits with nonlinear capacitors and inductors, and of arbitrary topology. Moreover, the new principle is applied to switching mechanical systems.",
"container_title": "Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference",
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"pages": "45--50",
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"references": [
{
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{
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{
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{
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{
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{
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{
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},
{
"id": "4f47e2d8-a0a6-552b-8919-1296974de4b4",
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"doi": "10.1109/cdc.2009.5400872"
},
"type": "proceedings-article",
"title": "Control by interconnection of distributed port-hamiltonian systems based on finite elements approximation",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
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{
"given": "Claudio",
"family": "Melchiorri",
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"abstract": "The main contribution of this paper is a procedure for the control by energy shaping via Casimir generation of high-order port-Hamiltonian systems obtained from the spatial discretization of infinite dimensional dynamics. Beside the intrinsic difficulties related to the large number of state variables, the finite element model is generally given in terms of a Dirac structure and is completely a-causal, which implies that the plant dynamics is not given in standard input-state-output form, but as a set of DAEs. Consequently, the classical energy-Casimir method has to be extended in order to deal with dynamical systems with constraints, usually appearing in the form of Lagrangian multipliers. The methodology is illustrated with reference to a particular example, i.e. an hinged-hinged Timoshenko beam with torque actuators at both sides.",
"container_title": "Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference",
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"issue": "",
"pages": "5133--5138",
"publisher": "IEEE",
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"references": [
{
"identifiers": {},
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{
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},
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},
{
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/9.871758"
},
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},
{
"identifiers": {},
"citation": "golo, A Hamiltonian formulation of the Timoshenko beam model. 8th Mechatronics Forum (2002)"
},
{
"identifiers": {
"doi": "10.1080/00207170701361273"
},
"citation": "Pasumarthy, R. & van der Schaft, A. J. Achievable Casimirs and its implications on control of port-Hamiltonian systems. International Journal of Control vol. 80 1421–1438 (2007)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2001.980086"
},
"citation": "Rodriguez, H., van der Schaft, A. J. & Ortega, R. On stabilization of nonlinear distributed parameter port-controlled Hamiltonian systems via energy shaping. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 1 131–136"
},
{
"identifiers": {
"doi": "10.1109/tac.2005.858656"
},
"citation": "Macchelli, A. & Melchiorri, C. Control by interconnection of mixed port Hamiltonian systems. IEEE Transactions on Automatic Control vol. 50 1839–1844 (2005)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.12.017"
},
"citation": "Golo, G., Talasila, V., van der Schaft, A. & Maschke, B. Hamiltonian discretization of boundary control systems. Automatica vol. 40 757–771 (2004)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM Journal on Control and Optimization vol. 37 54–91 (1998)"
},
{
"identifiers": {
"doi": "10.1007/978-3-540-73890-9_4"
},
"citation": "Bassi, L., Macchelli, A. & Melchiorri, C. An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems. Lecture Notes in Control and Information Sciences 61–73 doi:10.1007/978-3-540-73890-9_4"
},
{
"identifiers": {
"doi": "10.1137/s0363012903429530"
},
"citation": "Macchelli, A. & Melchiorri, C. Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach. SIAM Journal on Control and Optimization vol. 43 743–767 (2004)"
},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
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}
]
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"doi": "10.1109/cdc.2010.5717079"
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"type": "proceedings-article",
"title": "Power-based adaptive and integral control of standard mechanical systems",
"authors": [
{
"given": "D.A.",
"family": "Dirksz",
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"given": "J.M.A.",
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"abstract": "Recently a power-based modeling framework was introduced for mechanical systems, based on the Brayton-Moser framework. In this paper it is shown how this power-based framework is used for control of standard mechanical systems. For systems which are affected by parameter uncertainty or other unknown disturbances adaptive control and integral control are also described in this framework. The power-based control approach is also compared with the energy-shaping control of port-Hamiltonian systems. The most interesting difference is the possibility of having adaptive and integrator dynamics depending on position errors, while preserving the physical structure.",
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"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "4612--4617",
"publisher": "IEEE",
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"references": [
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "maschke, Port-controlled Hamiltonian systems: modeling origins and system-theoretic properties. IFAC Symposium on Nonlinear Control Systems (1992)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1109/tac.2003.817918"
},
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},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1109/acc.2000.879169"
},
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},
{
"identifiers": {
"doi": "10.1109/cdc.2009.5400318"
},
"citation": "Favache, A. & Dochain, D. Analysis and control of the exothermic continuous stirred tank reactor: the power-shaping approach. Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference 1866–1871 (2009) doi:10.1109/cdc.2009.5400318"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
"citation": "Jeltsema, D. & Scherpen, J. M. A. A power-based description of standard mechanical systems. Systems & Control Letters vol. 56 349–356 (2007)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2009.10.012"
},
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},
{
"identifiers": {
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},
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},
{
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{
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}
]
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"id": "60a38c8e-0cae-5ab3-82ea-5ce1cdef07b8",
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"doi": "10.1109/cdc.2010.5717274"
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"type": "proceedings-article",
"title": "Mechanical memory elements: Modeling of systems with position-dependent mass revisited",
"authors": [
{
"given": "Dimitri",
"family": "Jeltsema",
"literal": null,
"source_fields": {
"sequence": "first",
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}
},
{
"given": "Arnau",
"family": "Doria-Cerezo",
"literal": null,
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],
"abstract": "The purpose of this paper is two-fold. First, it is shown that systems in which mass is changing with position belong to the family of memory elements. Memory elements have originally been introduced in the electrical domain to provide a logical extension of the resistor, inductor, and capacitor. Secondly, it is shown that straightforward application of the classical Lagrangian and Hamiltonian frameworks to describe these type of elements generally leads to erroneous results. To overcome these problems, a port-Hamiltonian formulation is proposed. The developments are illustrated and motivated using the elementary cable-reel system.",
"container_title": "49th IEEE Conference on Decision and Control (CDC)",
"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "3511--3516",
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"created_date": "2011-02-22",
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"references": [
{
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{
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{
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{
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},
{
"id": "fa9f302b-c044-5ea4-98ed-cd75cd5370b2",
"identifiers": {
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},
"type": "proceedings-article",
"title": "On the Hamiltonian formulation of the CSTR",
"authors": [
{
"given": "Hector",
"family": "Ramirez",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Bernhard",
"family": "Maschke",
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}
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{
"given": "Daniel",
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"abstract": "In this paper we suggest some alternative representations of the Continuous Stirred Tank Reactor (CSTR) in terms of port-controlled Hamiltonian (PCH) and contact systems, elaborating on some recent work on this subject. In a first instance we suggest a PCH formulation of the CSTR in the isothermal case, generated by a Hamiltonian being a reaction invariant with a Poisson structure matrix defined by the stoichiometric coefficients of the reaction or reaction network. In a second instance we include the energy balance equation and suggest a pseudo port Hamiltonian formulation with Hamiltonian function being either the internal energy or the entropy. In a third instance we consider the lift of the latter formulation on the whole Thermodynamic Phase Space and discuss two alternative formulations differing outside the Legendre submanifold associated with the thermodynamic properties of the CSTR.",
"container_title": "49th IEEE Conference on Decision and Control (CDC)",
"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "3301--3306",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2011-02-22",
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"references": [
{
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{
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"type": "proceedings-article",
"title": "Average passivity for discrete-time and sampled-data linear systems",
"authors": [
{
"given": "Fernando",
"family": "Tiefensee",
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"given": "Salvatore",
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"abstract": "Average passivity concepts are proposed for linear time-invariant discrete-time as well as sampled-data dynamics to remove the direct input-output link obstacle. Necessary and sufficient conditions for average passivity are given in terms of LMI's. Direct discrete-time stabilizing and damping control strategies are proposed for average passive systems or Lyapunov stable dynamics. Linear port-controlled Hamiltonian - PCH systems are treated as an example to illustrate the stabilizing and damping performances through a simulated example.",
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"issue": "",
"pages": "7594--7599",
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"doi": "10.1007/978-1-4471-1276-1_14"
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"doi": "10.1109/cdc.2008.4739056"
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"doi": "10.1109/cdc.2009.5399866"
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"citation": "Monaco, S., Normand-Cyrot, D. & Tiefensee, F. Nonlinear port controlled Hamiltonian systems under sampling. Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference 1782–1787 (2009) doi:10.1109/cdc.2009.5399866"
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"type": "proceedings-article",
"title": "Wheel slip control using energy shaping",
"authors": [
{
"given": "Johan",
"family": "Koopman",
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"given": "Dimitri",
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"given": "Michel",
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"abstract": "A passivity-based wheel slip controller is presented that is robust against tyre-road friction uncertainties. Using a port-Hamiltonian form of a quarter-car with LuGre tyre model, an energy shaping controller is constructed that stabilizes some desired relative (sliding) velocity. The measured variables are the friction force and the relative velocity. A stability analysis shows that this controller is robust against tyre-road friction uncertainties. A simplified control law is proposed that inherits the robustness characteristics of the original controller. Finally, this simplified controller is tested in a simulation environment, showing that the desired relative velocity is stabilized for different friction parameter values.",
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"issue": "",
"pages": "2916--2921",
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{
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{
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{
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"type": "proceedings-article",
"title": "Stokes-Dirac structures through reduction of infinite-dimensional Dirac structures",
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"given": "Joris",
"family": "Vankerschaver",
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{
"given": "Hiroaki",
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{
"given": "Melvin",
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{
"given": "Jerrold E.",
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"abstract": "We consider the concept of Stokes-Dirac structures in boundary control theory proposed by van der Schaft and Maschke. We introduce Poisson reduction in this context and show how Stokes-Dirac structures can be derived through symmetry reduction from a canonical Dirac structure on the unreduced phase space. In this way, we recover not only the standard structure matrix of Stokes-Dirac structures, but also the typical non-canonical advection terms in (for instance) the Euler equation.",
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"pages": "6265--6270",
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"type": "proceedings-article",
"title": "A symmetric structure of variational and adjoint systems of stochastic Hamiltonian systems",
"authors": [
{
"given": "Satoshi",
"family": "Satoh",
"literal": null,
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{
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"family": "Fujimoto",
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"abstract": "The authors have extended deterministic port-Hamiltonian systems into stochastic dynamical systems which are described by stochastic differential equations written in the sense of Itô, called stochastic port-Hamiltonian systems. This paper introduces variational systems and their adjoint ones for the stochastic port-Hamiltonian systems. We also reveal some of their properties, particularly an extension of a self-adjoint property of deterministic Hamiltonian systems, which plays an important role in learning optimal control for the deterministic Hamiltonian systems.",
"container_title": "49th IEEE Conference on Decision and Control (CDC)",
"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "1423--1428",
"publisher": "IEEE",
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"created_date": "2011-02-22",
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"abstract": "In this note, a procedure to apply the interconnection and damping assignment passivity-based control (IDAPBC) methodology with a possibly state-dependent interconnection and damping structure is presented. The imposed structure of closed-loop (port)-controlled Hamiltonian form is motivated by the definition of an equilibrium manifold. We apply our result to passivity-based control of a heat exchanger.",
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"pages": "6254--6258",
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"type": "proceedings-article",
"title": "Structure preserving spatial discretization of 1D convection-diffusion port-Hamiltonian systems",
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"given": "T.",
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"abstract": "Convection-diffusion is a physical phenomenon that appears in a multitude of dynamical systems, e.g. vibrating string with damping or chemical and thermal systems. This paper focuses on a structure preserving spatial discretization scheme of a general dynamical system with convection and diffusion in the port-Hamiltonian framework. The preservation of the port-Hamiltonian structure ensures that specific properties, such as passivity, of the infinite dimensional system are preserved.",
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"pages": "6979--6984",
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{
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{
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{
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"type": "proceedings-article",
"title": "On Casimir functionals for field theories in Port-Hamiltonian description for control purposes",
"authors": [
{
"given": "Markus",
"family": "Schoberl",
"literal": null,
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{
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"family": "Siuka",
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"abstract": "We consider infinite dimensional Port-Hamiltonian systems in an evolutionary formulation. Based on this system representation conditions for Casimir densities (functionals) will be derived where in this context the variational derivative plays an extraordinary role. Furthermore the coupling of finite and infinite dimensional systems will be analyzed in the spirit of the control by interconnection problem. Our Hamiltonian representation differs significantly from the well-established one using Stokes-Dirac structures that are based on skew-adjoint differential operators and the use of energy variables. We mainly base our considerations on a bundle structure with regard to dependent and independent coordinates as well as on differential-geometric objects induced by that structure.",
"container_title": "IEEE Conference on Decision and Control and European Control Conference",
"publication_year": "2011",
"volume": "",
"issue": "",
"pages": "7759--7764",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2012-03-07",
"permalink": "on-casimir-functionals-for-field-theories-in-port-hamiltonian-description-for-control-purposes",
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{
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{
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{
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},
{
"identifiers": {
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},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
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{
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{
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{
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{
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{
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{
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{
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{
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"type": "proceedings-article",
"title": "Interconnection and composition of Dirac structures for Lagrange-Dirac systems",
"authors": [
{
"given": "Henry O.",
"family": "Jacobs",
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"sequence": "first",
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{
"given": "Hiroaki",
"family": "Yoshimura",
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"abstract": "There is much known on the port-Hamiltonian theory of interconnection of Dirac structures through shared variables. This interconnection is known as Composition of Dirac structures. In this paper, we will show an alternative interconnection of Dirac structures called Bowtie interconnection in the context of Lagrange-Dirac dynamical systems. In particular, we try to illustrate the following two things: Firstly, how composition of Dirac structures may be used in the Lagrangian theory of LC-circuits. Secondly, how composition of Dirac structures may be linked with bowtie interconnection.",
"container_title": "IEEE Conference on Decision and Control and European Control Conference",
"publication_year": "2011",
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"issue": "",
"pages": "928--933",
"publisher": "IEEE",
"event": "",
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"references": [
{
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{
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{
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{
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{
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{
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{
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{
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"abstract": "We provide explicit representations for the Dirac structure obtained from an arbitrary number of component Dirac structures coupled by means of another interconnecting Dirac structure. Our work generalizes the results in [1] in two aspects. First, the interconnecting structure is not limited to the simple feedback case considered there, and this opens new possibilities for designing control systems. Second, the number of simultaneously interconnected systems is not limited to two, which allows for extra flexibility in modeling, particularly in the case of electrical networks. Several relevant particular cases are presented, and the application to the interconnection of port-Hamiltonian systems is discussed by means of an example.",
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"abstract": "Interconnection and damping assignment passivity- based control (IDA-PBC) is a nonlinear state feedback technique that endows the closed-loop system with a port-Hamiltonian (PH) structure. The assigned energy function qualifies as a Lyapunov function and thus can be used to estimate the domain of attraction (DA). However, determining the largest bounded sublevel set of a general energy function which is contained in the DA is a difficult task. In this paper, a numerical algorithm is developed to cope with this problem without formulating conditions on the energy function. Moreover, an optimization procedure is proposed to determine a controller parametrization which maximizes the estimated DA, while simultaneously taking account of desired closed-loop performance. An illustrative example is included, where also a comparison to a linear state feedback controller is presented.",
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"issue": "",
"pages": "1852--1858",
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.1109/cdc.2012.6426693"
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"type": "proceedings-article",
"title": "Asymptotic stability of forced equilibria for distributed port-Hamiltonian systems",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
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"abstract": "The main contribution of this paper is an energy shaping procedure for the stabilization of forced equilibria for linear, lossless, distributed port-Hamiltonian systems via Casimir generation. Once inputs and outputs have been properly chosen to have a well-posed boundary control system, conditions for the existence of Casimir functions in closed-loop are given, together with their relation with the controller structure. These invariants suggest how to select the controller Hamiltonian to introduce a minimum at the desired equilibrium. Such equilibrium can be made asymptotically stable via damping injection, if proper “pervasive” damping injection conditions are satisfied. The methodology is illustrated with the help of a Timoshenko beam with constant non-zero force applied at one side of the spatial domain, and full-actuation on the other one.",
"container_title": "2012 IEEE 51st IEEE Conference on Decision and Control (CDC)",
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"pages": "2934--2939",
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{
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},
{
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{
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{
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{
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{
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{
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{
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},
{
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{
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{
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{
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},
{
"identifiers": {
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{
"identifiers": {
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},
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},
{
"identifiers": {
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{
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{
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}
]
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"id": "cbcd2783-d11c-5f82-ae36-790adb6c88a6",
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"doi": "10.1109/cdc.2012.6426822"
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"type": "proceedings-article",
"title": "Total energy shaping of a class of underactuated Port-Hamiltonian Systems using a new set of closed-loop potential shape variables",
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"given": "Christopher",
"family": "Renton",
"literal": null,
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{
"given": "Yik Ren",
"family": "Teo",
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{
"given": "Tristan",
"family": "Perez",
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"abstract": "This paper proposes a method for designing set-point regulation controllers for a class of underactuated mechanical systems in Port-Hamiltonian System (PHS) form. A new set of potential shape variables in closed loop is proposed, which can replace the set of open loop shape variables-the configuration variables that appear in the kinetic energy. With this choice, the closed-loop potential energy contains free functions of the new variables. By expressing the regulation objective in terms of these new potential shape variables, the desired equilibrium can be assigned and there is freedom to reshape the potential energy to achieve performance whilst maintaining the PHS form in closed loop. This complements contemporary results in the literature, which preserve the open-loop shape variables. As a case study, we consider a robotic manipulator mounted on a flexible base and compensate for the motion of the base while positioning the end effector with respect to the ground reference. We compare the proposed control strategy with special cases that correspond to other energy shaping strategies previously proposed in the literature.",
"container_title": "2012 IEEE 51st IEEE Conference on Decision and Control (CDC)",
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"issue": "",
"pages": "4603--4609",
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"identifiers": {
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"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
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{
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{
"identifiers": {
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},
{
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},
{
"identifiers": {
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},
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{
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{
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}
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"doi": "10.1109/cdc.2013.6759866"
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"type": "proceedings-article",
"title": "Hybrid optimal control with singular arcs for DC-DC power converters",
"authors": [
{
"given": "A. R.",
"family": "Meghnous",
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{
"given": "D.",
"family": "Patino",
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{
"given": "M. T.",
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{
"given": "X.",
"family": "Lin-Shi",
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"abstract": "In this article, the design of a feedback control law for DC-DC power converters in continuous conduction mode based on hybrid optimal control theory is presented. The proposed technique consists in determining the singular arcs when a solution of the original optimal control problem cannot be provided. The closed loop stability analysis uses a Lyapunov function based on a port-Hamiltonian representation of the system. The proposed control law is applied to SEPIC converter and validated in simulation.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
"volume": "",
"issue": "",
"pages": "103--108",
"publisher": "IEEE",
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"created_date": "2014-03-13",
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"references": [
{
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{
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},
{
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{
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{
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{
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{
"identifiers": {
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},
{
"identifiers": {
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{
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{
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{
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{
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}
]
},
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"id": "d52f856c-f497-5b87-9359-87f7b67c57a1",
"identifiers": {
"doi": "10.1109/cdc.2013.6759873"
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"type": "proceedings-article",
"title": "Identification and data-driven reduced-order modeling for linear conservative port- and self-adjoint Hamiltonian systems",
"authors": [
{
"given": "Paolo",
"family": "Rapisarda",
"literal": null,
"source_fields": {
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{
"given": "Arjan",
"family": "van der Schaft",
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"abstract": "Given a sufficiently numerous set of vector-exponential trajectories of a conservative port-Hamiltonian system and the supply rate, we compute a corresponding set of state trajectories by factorizing a constant Pick-like matrix. State equations are then obtained by solving a system of linear equations involving the system trajectories and the computed state ones. If a factorization of only a principal submatrix of the Pick matrix is performed, our procedure yields a lower-order conservative port-Hamiltonian model obtained by projection of the full-order one. We also describe a similar approach to identification and model-order reduction for self-adjoint Hamiltonian systems.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
"volume": "",
"issue": "",
"pages": "145--150",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2014-03-13",
"permalink": "identification-and-data-driven-reduced-order-modeling-for-linear-conservative-port-and-self-adjoint-hamiltonian-systems",
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{
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{
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{
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{
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{
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{
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"doi": "10.1109/cdc.2013.6759924"
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"type": "proceedings-article",
"title": "Exponential stabilization of a class of flexible microgrippers using dynamic boundary port Hamiltonian control",
"authors": [
{
"given": "Hector",
"family": "Ramirez",
"literal": null,
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{
"given": "Yann",
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"abstract": "This paper deals with the control of a class of simplified models for flexible micro-grippers for DNA manipulation. The overall system is first modelled as a boundary controlled port Hamiltonian system made up as the interconnection of an infinite dimensional system (modelled as an undamped Timoshenko beam) representing the flexible arm of the gripper with two finite dimensional systems representing the DNA bundle and the suspension/actuator mechanism. The base of the arm is clamped on the suspension mechanism leading to under actuated system. The controller considered under strict dissipative port Hamiltonian format uses the velocity of the base of the tweezers arm as input and generates a force as output. The exponential stability of the closed loop system is derived by checkininfinite and finite dimensional system.g simple conditions on both the infinite and finite dimensional system.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
"volume": "",
"issue": "",
"pages": "460--465",
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"doi": "10.1109/cdc.2013.6759954"
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"type": "proceedings-article",
"title": "Energy and power based perspective of memristive controllers",
"authors": [
{
"given": "Ramkrishna",
"family": "Pasumarthy",
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{
"given": "Gourav",
"family": "Saha",
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"given": "Faruk",
"family": "Kazi",
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{
"given": "Navdeep",
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"abstract": "The use of Casimir functions towards control of physical systems is well known, both in the context of Energy shaping as well as Power shaping techniques. In this paper we show that by use of a Memristive element in the controller design enables us to generate additional Casimir functions relating the state of the memristor to the plant state. This additional conserved quantity manifests itself in the control law in form of a state-modulated gain. We present our results with examples in the context of control by Casimir generation in the port-Hamiltonian framework, which essentially deals with shaping the energy of the system. We also present the applicability of the results towards control by power shaping of electrical circuits in the Brayton-Moser framework for modeling of electrical networks.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
"volume": "",
"issue": "",
"pages": "642--647",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2014-03-13",
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{
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{
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{
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{
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{
"identifiers": {
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{
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{
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{
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{
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{
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{
"identifiers": {
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{
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{
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{
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]
},
{
"id": "71a91142-ce99-55ba-94d0-075faa8d6702",
"identifiers": {
"doi": "10.1109/cdc.2013.6760114"
},
"type": "proceedings-article",
"title": "Position control via force feedback for a class of standard mechanical systems in the port-Hamiltonian framework",
"authors": [
{
"given": "Mauricio",
"family": "Munoz-Arias",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Jacquelien M. A.",
"family": "Scherpen",
"literal": null,
"source_fields": {
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"affiliation": []
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{
"given": "Daniel A.",
"family": "Dirksz",
"literal": null,
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"abstract": "In this paper position control strategies via force feedback are presented for standard mechanical systems in the port-Hamiltonian framework. The presented control strategies requires a set of coordinate transformations, since force feedback in the port-Hamiltonian framework is not straightforward. With the coordinate transformations force feedback can be realized while preserving the port-Hamiltonian structure. The port-Hamiltonian formalism offers a modeling framework with a clear physical structure and other properties that can often be exploited for control design purposes, which is why we believe it is important to preserve the structure. The proposed control strategies offers an alternative solution to position control with more tuning freedom and exploits knowledge of the system dynamics.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
"volume": "",
"issue": "",
"pages": "1622--1627",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2014-03-13",
"permalink": "position-control-via-force-feedback-for-a-class-of-standard-mechanical-systems-in-the-port-hamiltonian-framework",
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{
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{
"id": "59568c52-8a1b-530a-b26e-a109e265bfcb",
"identifiers": {
"doi": "10.1109/cdc.2013.6760119"
},
"type": "proceedings-article",
"title": "Tracking controller design methodology for passive port-controlled Hamiltonians with application to type-2 STATCOM systems",
"authors": [
{
"given": null,
"family": "Yonghao Gui",
"literal": null,
"source_fields": {
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"affiliation": []
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{
"given": null,
"family": "Dong Eui Chang",
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{
"given": null,
"family": "Chung Choo Chung",
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"abstract": "We propose a general framework for the exponentially stable tracking controller design for passive port-controlled Hamiltonian systems with a single input and a single output. We use the Dynamic Extension Algorithm to the system. The dynamic extended system becomes an input affine system so that the tracking controller is obtained in input-output linearization framework. The tracking control law is generated considering the stability and performance of the input output linearized dynamics. We apply it to a static synchronous compensator (STATCOM) system, which is not an input affine system. We make a dynamic extension of the STATCOM system to conveniently design a reference output and then put the dynamics into the form of port-controlled Hamiltonian to apply the proposed tracking controller. Simulation results show that the proposed method improves the transient performance of the system over the previous results even in the lightly damped operating range.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
"volume": "",
"issue": "",
"pages": "1653--1658",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2014-03-13",
"permalink": "tracking-controller-design-methodology-for-passive-port-controlled-hamiltonians-with-application-to-type-2-statcom-systems",
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{
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{
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"doi": "10.1109/cdc.2013.6760262"
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"type": "proceedings-article",
"title": "Incrementally port-Hamiltonian systems",
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"given": "M. K.",
"family": "Camlibel",
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"given": "A. J.",
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"abstract": "This paper introduces the new class of incrementally port-Hamiltonian systems. This class can be obtained from standard port-Hamiltonian systems by replacing the composition of the Dirac structure and energy-dissipating relation by a maximal monotone relation. After introducing this new class of systems, we study their compositions and show that incrementally port-Hamiltonian systems are closed under composition. Also, we study existence and uniqueness os state trajectories for such systems as well as an energy-based state re-initialization principle.",
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"type": "proceedings-article",
"title": "Strong stabilization of piezoelectric beams with magnetic effects",
"authors": [
{
"given": "K.",
"family": "Morris",
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{
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"abstract": "It is widely accepted in the literature that magnetic effects in the piezoelectric beams is relatively small, and does not change the overall dynamics. Therefore, most models for piezoelectric beams completely ignore the magnetic energy. These models are known to be exponentially stabilizable by a mechanical feedback controller in the energy space. In this paper, we use a variational approach to derive the differential equations and boundary conditions that model a single piezoelectric beam with magnetic effects. Next, we show that the resulting control system can be formulated as a port-Hamiltonian system and is hence well-posed. Finally, by using only an electrical feedback controller (the current flowing through the electrodes), we show that the closed-loop system is strongly stable in the energy space for a dense set of system parameters. The difference between this result and that for models that neglect magnetic effects is discussed.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
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"issue": "",
"pages": "3014--3019",
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"doi": "10.1109/cdc.2013.6760350"
},
"type": "proceedings-article",
"title": "Robust globally exponentially stable control for mechanical systems in free/constrained-motion tasks",
"authors": [
{
"given": "Jose Guadalupe",
"family": "Romero",
"literal": null,
"source_fields": {
"sequence": "first",
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{
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{
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"abstract": "In this paper, we address the global exponential stability problem of perturbed mechanical systems in free-motion and interacting with passive environments. Particularly, we are interested in incorporating an exponentially stable response to a robust passivity-based control design. We formulate and analyse the stability of the proposed controllers based on the port-Hamiltonian framework. One of the novelties of the presented control design, is that exponential stability is achieved without removing the natural non-linearity of the mechanical system. To the best of our knowledge, this is the first time an exponentially stable controller is reported with this passivity-based method.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
"volume": "",
"issue": "",
"pages": "3067--3072",
"publisher": "IEEE",
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},
"type": "proceedings-article",
"title": "Canonical interconnection of discrete linear port-Hamiltonian systems",
"authors": [
{
"given": "Said",
"family": "Aoues",
"literal": null,
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{
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"abstract": "This paper deals with the canonical interconnection of discrete-time linear port-Hamiltonian systems. A conservative discrete linear port-Hamiltonian dynamics involving a modified conjugate port-output is introduced. It is shown that the projection yielding the discrete dynamics and the composition by canonical interconnection commute. As a by-product, symplecticity of the numerical flow is preserved by interconnection whenever input vector fields are Hamiltonian vector fields, which is analogous to the continuous case. The negative feedback interconnection of two circuits illustrates the results.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
"volume": "",
"issue": "",
"pages": "3166--3171",
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"identifiers": {
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},
"type": "proceedings-article",
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"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
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],
"abstract": "Aim of this paper is to show how the Dirac structure properties can be exploited in the development of energy-based boundary control laws for distributed port-Hamiltonian systems. Usually, stabilisation of non-zero equilibria has been achieved by looking at, or generating, a set of structural invariants, namely Casimir functions, in closed-loop. Since this approach fails when an infinite amount of energy is required at the equilibrium (dissipation obstacle), this paper illustrates that the class of stabilising controllers is enlarged if the synthesis relies on the parametrisation of the dynamics provided by the image representation of the Dirac structure, able to show the effects of the boundary inputs on state evolution. The theoretical results are discussed with the help of a simple but illustrative example, i.e. a transmission line with RLC load in both serial and parallel configurations.",
"container_title": "52nd IEEE Conference on Decision and Control",
"publication_year": "2013",
"volume": "",
"issue": "",
"pages": "3267--3272",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2014-03-13",
"permalink": "on-the-use-of-dirac-structures-on-hilbert-spaces-in-the-synthesis-of-boundary-control-laws-for-port-hamiltonian-systems",
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"abstract": "In this paper we investigate the sine qua non condition of existence of equilibria for electrical systems with external sources furnishing constant power to the loads, which is a scenario encountered in modern applications. Two general cases are considered, when the system is (i) linear time-invariant or (ii) nonlinear, with dynamic behavior described by a port-Hamiltonian model with constant dissipation and switching interconnection matrix. The latter class includes the practically important case of power converters. For both cases necessary and sufficient conditions for existence of equilibria are given, which impose that the power dissipated in steady-state should exceed the extracted constant power. The equilibrium is ensured if and only if the inequality is satisfied.",
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"type": "proceedings-article",
"title": "Port-Hamiltonian formulation of simple macro-economic systems",
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"given": "Alessandro",
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"abstract": "This paper aims at extending the port-Hamiltonian formalism to a simple class of macro-economic systems. As in physical modelling, for these systems, the dynamics is the result of the interaction between a limited set of “atomic components,” such as inventories, (re)investments, suppliers and demand. Once flow, effort, and “power” (i.e., the cash flow) have been defined, the behaviour of these simple elements is provided, and their interconnection is described in terms of a Dirac structure, whose power conservation property is recognised as the equivalent of the law of good bookkeeping, i.e. the Walras's Law, in economy. Then, port-Hamiltonian and Brayton-Moser descriptions of the system dynamics is obtained by port interconnection, as usually done in case of physical systems. Some example are provided to explain not only the potentialities, but also the limitations of the proposed approach.",
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"type": "proceedings-article",
"title": "A port-Hamiltonian approach to formation control using bearing measurements and range observers",
"authors": [
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"given": "Geoff",
"family": "Stacey",
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"abstract": "In this paper we consider the problem of formation control using measurements of the bearings between vehicles. We design our system using port-Hamiltonian theory and the bondgraph modelling technique. Our approach builds upon the architecture presented in [22], which relied on partial measurements of relative position rather than position measurements with respect to an inertial frame. The previous work used a generalised form of the image Jacobians employed in image-based visual servo (IBVS) control literature to compute the desired control forces. However, the implementation of these measurement Jacobians requires unknown information about the relative positions of the vehicles. A key contribution of this paper is that we show how a depth observer can be integrated into the design to overcome this problem for the case where bearing measurements are available. Assuming that a single distance measurement is also available, we can specify a rigid goal formation in terms of the available measurements of relative positions. For this system, we prove local convergence to the desired configuration. We then provide a discussion regarding the implementation, and suggest that in practice, the distance measurement may be unnecessary. This discussion is supported by simulation results.",
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"references": [
{
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"title": "Robust control of underactuated Aerial Manipulators via IDA-PBC",
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"abstract": "Aerial Manipulators (AMs) are a special class of underactuated mechanical systems formed by the join of Unmanned Aerial Vehicles (UAVs) and manipulators. A thorough analysis of the dynamics and a fully constructive controller design for a quadrotor plus n-link manipulator in a free-motion on an arbitrary plane is provided, via the lDA-PBC methodology. A controller is designed with the manipulator locked at any position ensuring global asymptotic stability in an open set and avoiding the AM goes upside down (autonomous). The major result of stability/robustness arises when it is proved that, additionally, the controller guarantees the boundedness of the trajectories for bounded movements of the manipulator, i.e. the robot manipulator executing planned tasks, giving rise to a non-autonomous port-controlled Hamiltonian system in closed loop. Moreover, all trajectories converge to a positive limit set, a strong result for matching-type controllers.",
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"doi": "10.1109/cdc.2014.7039598"
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"type": "proceedings-article",
"title": "An impedance grasping strategy",
"authors": [
{
"given": "Mauricio",
"family": "Munoz-Arias",
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{
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"abstract": "This work is devoted to an impedance grasping strategy for a class of standard mechanical systems in the port-Hamiltonian framework. The presented control strategy requires a set of coordinate transformations, since the impedance control in the port-Hamiltonian framework with structure preservation is not straightforward. The impedance grasping control is achieved via a virtual spring with a variable rest length. The force that is exerted by the virtual spring leads to a dissipation term in the impedance grasping controller which is needed to obtain a smoother noncontact to contact transition. Simulations results are given in order to motivate our results.",
"container_title": "53rd IEEE Conference on Decision and Control",
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"type": "proceedings-article",
"title": "Dynamic Interconnection and Damping Assignment",
"authors": [
{
"given": "K.",
"family": "Nunna",
"literal": null,
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{
"given": "M.",
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"abstract": "The Interconnection and Damping Assignment passivity-based control method for port-controlled Hamiltonian systems is discussed. We propose a new definition of algebraic solution of the so-called matching equation. This notion is instrumental for the construction of an energy function on an extended state-space, which does not rely on the solution of any partial differential equation. We provide sufficient conditions that allow to preserve the port-Hamiltonian structure in the extended closed-loop system. The theory is validated on an electrostatic microactuator by assigning an interconnection and damping structure that cannot be imposed with the standard approach.",
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"issue": "",
"pages": "1563--1568",
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"title": "New results on Control by Interconnection and Energy-Balancing Passivity-Based Control of port-hamiltonian systems",
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"given": "Romeo",
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"abstract": "In this paper we present some new results on two energy-shaping controllers for port-Hamiltonian (pH) systems: Control by Interconnection (CbI) and Energy-Balancing Passivity-Based Control (EB-PBC). The work is motivated by two recent developments, first, the identification of a novel class of passive outputs for pH systems. Second, the observation that allowing the energy function of the controller used in CbI to depend on the state of the system to be controlled also generates new passive outputs. As shown here, using these passive outputs gives additional degrees of freedom for the design of CbI and EB-PBC to make both techniques more widely applicable. Another contribution of the paper is to provide an unified framework for the design of the various forms of CbI and EB-PBC reported in the literature, objective that is achieved viewing EB-PBC as a particular instance of CbI with regulated sources.",
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{
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{
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{
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{
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{
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"title": "Robust stability for delayed port-Hamiltonian systems using improved Wirtinger-based inequality",
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"given": "Said",
"family": "Aoues",
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"abstract": "This paper addresses robust stability issues of interconnected port-Hamiltonian systems with polytopic uncertainty and time-varying delay. On the basis of a Lyapunov-Krasovskii functional and the Wirtinger's inequality (known to be less conservative than the popular Jensen's inequality) we show the improvements of the newly proposed criterion with respect to other existing ones. The stability analysis is derived based on a delay independent criterion. A classical nonlinear example taken from the literature illustrates the relevance of the results.",
"container_title": "53rd IEEE Conference on Decision and Control",
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"title": "On trajectory tracking control of port-Hamiltonian systems with quaternions",
"authors": [
{
"given": "Kenji",
"family": "Fujimoto",
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"given": "Taishi",
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"abstract": "A quaternion representation is often used to describe the attitude of a rigid body type spacecraft since it does not have any singular point whereas the conventional Euler angle description intrinsically has one. However, the dynamical equation with quaternions become more complicated than those described by Euler angles. In order to control the system with quaternions easily, we apply the authors' previous work on trajectory tracking control for port-Hamiltonian systems and extend it to handle quaternions. In the proposed design procedure, we do not need to solve any additional partial differential equations (PDEs) whereas nonlinear control very often requires to solve them.",
"container_title": "53rd IEEE Conference on Decision and Control",
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{
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{
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{
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{
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{
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{
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{
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"title": "Interconnection of port-hamiltonian systems via contact structures. An application to macro-economic systems",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
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"abstract": "This paper aims at extending a novel approach based on the port-Hamiltonian formalism and able to model macro-economic systems to include a more realistic formulation of the firm (or supplier) behaviour. The firm is a profit maximising entity, naturally described in terms of a contact structure, that interconnects the markets associated to the demand and to the input factors in order to create a profit. To determine the resulting dynamics, the paper shows how to interconnect the port-Hamiltonian systems associated to each market with contact structures, i.e. how to combine power conserving interconnecting structures, namely Dirac structures (related to the Walras's Law of macro-economic), with contact structures, usually employed to describe irreversible phenomena. Beside the specific application to macro-economy, since a contact structure can be associated to a sort of “energy-based” maximisation/minimisation problem, it is also shown how to achieve such kind of interconnection via feedback control, i.e. how to shape a power-conserving interconnection to obtain a contact structure.",
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{
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"doi": "10.1109/cdc.2015.7402279"
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"type": "proceedings-article",
"title": "Disturbance rejection via control by interconnection of port-Hamiltonian systems",
"authors": [
{
"given": "Joel",
"family": "Ferguson",
"literal": null,
"source_fields": {
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{
"given": "Richard H.",
"family": "Middleton",
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"given": "Alejandro",
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"abstract": "In this paper we present a new result on rejection of unmatched external disturbances on port-Hamiltonian systems using Control by Interconnection (CbI). The PHS structure is used to design a controller that rejects unmatched constant disturbances from non-passive outputs. In the PHS framework, the disturbance rejection problem has been addressed adding integral action and using a change of coordinates. In our approach, we avoid a change of coordinates keeping the original state vector, which contains variables with physical interpretation. The methodology proposed in this paper is illustrated on an electrical circuit and on a permanent magnet synchronous motor. Simulation of the later example shows the performance of the control design.",
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"pages": "507--512",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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"citation": "Donaire, A. & Junco, S. On the addition of integral action to port-controlled Hamiltonian systems. Automatica 45, 1910–1916 (2009)"
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"title": "Control by interconnection beyond the dissipation obstacle of finite and infinite dimensional port-Hamiltonian systems",
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"abstract": "By exploiting the properties of the geometric structure of a port-Hamiltonian system, a general methodology for the definition of a new control port that allows to solve the so-called “dissipation obstacle” within the control by interconnection framework is discussed. This approach can be applied to a large class of port-Hamiltonian systems, both in the lumped, and in the distributed parameter cases. It is also shown how the limitations of the control by interconnection and energy-shaping via Casimir generation can be removed by interconnecting the controller to a different control port, i.e. how it is possible to compute a new passive output that is instrumental for removing the intrinsic constraints imposed by the dissipative structure of the system.",
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"abstract": "This paper studies the problem of frequency regulation in power grids, while maximizing the social welfare. Two price-based controllers are proposed; the first one an internal-model-based controller and the second one based on a continuous gradient method for optimization. Both controllers can be implemented in a fully distributed fashion, with freedom in choosing a controller communication network. As a result, two real-time dynamic pricing models described by port-Hamiltonian systems are obtained. By coupling with the port-Hamiltonian description of the physical network we obtain a closed-loop port-Hamiltonian system, whose properties are exploited to prove asymptotic stability of the set of optimal points. Numerical results show the performance of both controllers in a simple case study.",
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"type": "proceedings-article",
"title": "Discrete IDA-PBC control law for Newtonian mechanical port-Hamiltonian systems",
"authors": [
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"given": "Said",
"family": "Aoues",
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"abstract": "This paper deals with the stability of discrete closed-loop dynamics arising from digital IDA-PBC controller design. This work concerns the class of Newtonian mechanical port-Hamiltonian systems (PHSs), that is those having separable energy being quadrating in momentum (with constant mass matrix). We first introduce a discretization scheme which ensures a passivity equation relatively to the same storage and dissipation functions as the continuous-time PHS. A discrete controller is then obtained following the IDA-PBC design procedure applied to the discrete PHS system. This method guarantees that, from an energetic viewpoint, the discrete closed-loop behavior is similar to the continuous one. Under zero-state observability assumption, closed-loop stability then follows from LaSalle principle. The method is illustrated on an inertia wheel pendulum model.",
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"pages": "4388--4393",
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"doi": "10.1109/cdc.2015.7403007"
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"type": "proceedings-article",
"title": "Trajectory tracking of a class of port Hamiltonian systems using Timed IDA-PBC technique",
"authors": [
{
"given": "Abolfazl",
"family": "Yaghmaei",
"literal": null,
"source_fields": {
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"affiliation": []
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{
"given": "Mohammad Javad",
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"abstract": "In the line of presenting a tracker design in port-Hamiltonian systems, a timed version of Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) technique, hereafter called Timed IDA-PBC, is introduced. One of the advantages of the proposed method is its ability to utilize the stabilization results for the purpose of tracking. For many systems, when the stabilization problem is solved via the common IDA-PBC method, using some simple modifications on the closed-loop Hamiltonian function, the tracking problem can also be solved through the Timed IDA-PBC technique.",
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"title": "Shaping the energy of port-Hamiltonian systems without solving PDE's",
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"abstract": "Equilibrium stabilisation of nonlinear systems via energy shaping is a well-established, robust, passivity-based controller design technique. Unfortunately, its application is often stymied by the need to solve partial differential equations. In this paper a new, fully constructive, procedure to shape the energy for a class of port-Hamiltonian systems that obviates the solution of partial differential equations is proposed. Proceeding from the well-known passive, power shaping output we propose a nonlinear static state-feedback that preserves passivity of this output but with a new storage function. This function contains some tuning gains used to ensure it is positive definite, hence a suitable Lyapunov function for the closed-loop. Connections with other standard passivity-based controllers are indicated and it is shown that the new controller design is applicable to two benchmark examples.",
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"title": "Stability of a class of delayed port-Hamiltonian systems with application to droop-controlled microgrids",
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"given": "Johannes",
"family": "Schiffer",
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"abstract": "A class of port-Hamiltonian systems with delayed interconnection matrices is considered. This class of systems is motivated by the problem of stability in droop-controlled microgrids with delays. Delay-dependent stability conditions are derived via the Lyapunov-Krasovskii method. The stability conditions are applied to an exemplary microgrid. The efficiency of the results is illustrated via a simulation example.",
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"type": "proceedings-article",
"title": "Brayton-moser formulation of infinite dimensional port-hamiltonian systems with application to boundary control",
"authors": [
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"given": "Alessandro",
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"abstract": "In this paper, for a class of distributed port-Hamiltonian systems defined on a one-dimensional spatial domain, an equivalent Brayton-Moser formulation is provided. The dynamic is expressed as a gradient equation with respect to a new storage function, the “mixed-potential,” with the dimensions of power. The system is then passive with respect to a supply rate that is related to the reactive power, and that depends on the boundary port variables and on their time derivatives. This equivalent representation is the starting point for the development of boundary control laws able to shape the mixed-potential function. Differently from energy-balancing control schemes, this technique allows to deal with pervasive dissipation in the system in an effective way. The general theory is illustrated with the help of an example, the boundary stabilisation of a transmission line with internal dissipation.",
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"pages": "543--548",
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"doi": "10.3182/20140824-6-za-1003.00870"
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"citation": "Macchelli, A. Boundary Energy-Shaping Control of the Shallow Water Equation. IFAC Proceedings Volumes 47, 1586–1591 (2014)"
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{
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"doi": "10.1016/j.ejcon.2013.10.002"
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"citation": "Macchelli, A. Boundary energy shaping of linear distributed port-Hamiltonian systems. European Journal of Control 19, 521–528 (2013)"
},
{
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"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
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{
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{
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"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
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"doi": "10.1016/j.automatica.2004.04.007"
},
"citation": "Jeltsema, D., Ortega, R. & M.A. Scherpen, J. An energy-balancing perspective of interconnection and damping assignment control of nonlinear systems. Automatica 40, 1643–1646 (2004)"
},
{
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"doi": "10.1561/2600000002"
},
"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. FnT in Systems and Control 1, 173–378 (2014)"
},
{
"identifiers": {},
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},
{
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{
"identifiers": {
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"citation": "Rodriguez, H., van der Schaft, A. J. & Ortega, R. On stabilization of nonlinear distributed parameter port-controlled Hamiltonian systems via energy shaping. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 1 131–136"
},
{
"identifiers": {},
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{
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"identifiers": {
"doi": "10.1007/978-1-4612-4224-6"
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{
"identifiers": {
"doi": "10.1109/tac.2014.2315754"
},
"citation": "Ramirez, H., Le Gorrec, Y., Macchelli, A. & Zwart, H. Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback. IEEE Trans. Automat. Contr. 59, 2849–2855 (2014)"
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"doi": "10.3166/ejc.16.545-563"
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"citation": "Hamroun, B., Dimofte, A., Lefèvre, L. & Mendes, E. Control by Interconnection and Energy-Shaping Methods of Port Hamiltonian Models. Application to the Shallow Water Equations. European Journal of Control 16, 545–563 (2010)"
},
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"citation": "van der schaft, Modeling and Control of Complex Physical Systems: The Port-Hamiltonian Approach. Port Hamiltonian Systems (2009)"
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"doi": "10.1109/cdc.2016.7798739"
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"type": "proceedings-article",
"title": "On the control by interconnection and exponential stabilisation of infinite dimensional port-Hamiltonian systems",
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"abstract": "This paper aims at illustrating how the control by interconnection methodology (energy-Casimir method) can be employed in the development of exponentially stabilising boundary control laws for a class of linear, distributed port-Hamiltonian systems with one dimensional spatial domain. The energy-Casimir method is the starting point to determine a state-feedback law able to shape the closed-loop Hamiltonian and achieve simple stability. Then, it is shown how to design a further control loop that guarantees exponential convergence. Thanks to this result, it is possible to overcome a limitation of standard damping injection strategies that, if combined with energy shaping control laws based on energy-balancing, are able to assure, in general, only asymptotic convergence. The methodology is illustrated with the help of a simple example, the boundary stabilisation of a lossless transmission line.",
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"doi": "10.1109/tac.2012.2235739"
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"citation": "Schoberl, M. & Siuka, A. On Casimir Functionals for Infinite-Dimensional Port-Hamiltonian Control Systems. IEEE Trans. Automat. Contr. 58, 1823–1828 (2013)"
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"citation": "Macchelli, A. Boundary energy shaping of linear distributed port-Hamiltonian systems. European Journal of Control 19, 521–528 (2013)"
},
{
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"citation": "van der schaft, L2-Gain and Passivity Techniques in Nonlinear Control ser Communication and Control Engineering (2000)"
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"doi": "10.1109/37.915398"
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"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
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"doi": "10.1007/978-3-0348-0399-1"
},
"citation": "Jacob, B. & Zwart, H. J. Linear Port-Hamiltonian Systems on Infinite-Dimensional Spaces. (Springer Basel, 2012). doi:10.1007/978-3-0348-0399-1"
},
{
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"citation": "macchelli, Asymptotic stabilisation of distributed port-Hamiltonian systems by boundary energy-shaping control. Mathematical Modelling (MATHMOD 2015) Proceedings of the 8th International Conference on (2015)"
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"doi": "10.3182/20140824-6-za-1003.00870"
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"citation": "Macchelli, A. Boundary Energy-Shaping Control of the Shallow Water Equation. IFAC Proceedings Volumes 47, 1586–1591 (2014)"
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{
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"doi": "10.1109/tac.2014.2315754"
},
"citation": "Ramirez, H., Le Gorrec, Y., Macchelli, A. & Zwart, H. Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback. IEEE Trans. Automat. Contr. 59, 2849–2855 (2014)"
},
{
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"doi": "10.1007/978-1-4612-4224-6"
},
"citation": "Curtain, R. F. & Zwart, H. An Introduction to Infinite-Dimensional Linear Systems Theory. Texts in Applied Mathematics (Springer New York, 1995). doi:10.1007/978-1-4612-4224-6"
},
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"citation": "van der schaft, Modeling and Control of Complex Physical Systems The Port-Hamiltonian Approach (2009)"
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"doi": "10.1016/s0393-0440(01)00083-3"
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"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
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"doi": "10.1561/2600000002"
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"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. FnT in Systems and Control 1, 173–378 (2014)"
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{
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"citation": "macchelli, Modeling and Control of Complex Physical Systems The Port-Hamiltonian Approach (2009)"
},
{
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"doi": "10.1137/040611677"
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"citation": "Le Gorrec, Y., Zwart, H. & Maschke, B. Dirac structures and Boundary Control Systems associated with Skew-Symmetric Differential Operators. SIAM J. Control Optim. 44, 1864–1892 (2005)"
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{
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"doi": "10.1137/s0363012903429530"
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"citation": "Macchelli, A. & Melchiorri, C. Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach. SIAM J. Control Optim. 43, 743–767 (2004)"
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"doi": "10.1109/cdc.2001.980086"
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"citation": "Rodriguez, H., van der Schaft, A. J. & Ortega, R. On stabilization of nonlinear distributed parameter port-controlled Hamiltonian systems via energy shaping. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 1 131–136"
},
{
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"doi": "10.1007/978-3-642-03196-0"
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},
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"citation": "maschke, Port controlled Hamiltonian systems: modeling origins and system theoretic properties. Nonlinear Control Systems (NOLCOS 1992) Proceedings of the 3rd IFAC Symposium on (1992)"
},
{
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"doi": "10.1109/tac.2005.858656"
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"citation": "Macchelli, A. & Melchiorri, C. Control by interconnection of mixed port Hamiltonian systems. IEEE Trans. Automat. Contr. 50, 1839–1844 (2005)"
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{
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"doi": "10.1137/s0363012996312039"
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"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
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"doi": "10.3182/20140824-6-za-1003.01966"
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"citation": "Gorrec, Y. L., Macchelli, A., Ramirez, H. & Zwart, H. Energy shaping of boundary controlled linear port Hamiltonian systems. IFAC Proceedings Volumes 47, 1580–1585 (2014)"
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{
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"doi": "10.1016/j.sysconle.2014.03.005"
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"citation": "Macchelli, A. Dirac structures on Hilbert spaces and boundary control of distributed port-Hamiltonian systems. Systems & Control Letters 68, 43–50 (2014)"
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"doi": "10.1109/cdc.2015.7402582"
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"citation": "Macchelli, A. Control by interconnection beyond the dissipation obstacle of finite and infinite dimensional port-Hamiltonian systems. 2015 54th IEEE Conference on Decision and Control (CDC) 2489–2494 (2015) doi:10.1109/cdc.2015.7402582"
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"doi": "10.1016/j.ifacol.2015.10.221"
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"citation": "Macchelli, A., Borja, L. P. & Ortega, R. Control by Interconnection of Distributed Port-Hamiltonian Systems Beyond the Dissipation Obstacle. IFAC-PapersOnLine 48, 99–104 (2015)"
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"doi": "10.1109/cdc.2016.7798892"
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"type": "proceedings-article",
"title": "Optimal power dispatch in networks of high-dimensional models of synchronous machines",
"authors": [
{
"given": "Tjerk",
"family": "Stegink",
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{
"given": "Claudio",
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"given": "Arjan",
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"abstract": "This paper investigates the problem of optimal frequency regulation of multi-machine power networks where each synchronous machine is described by a sixth order model. By analyzing the physical energy stored in the network and the generators, a port-Hamiltonian representation of the multi-machine system is obtained. Moreover, it is shown that the open-loop system is passive with respect to its steady states which allows the construction of passive controllers to control the multi-machine network. As a special case, a distributed consensus based controller is designed that regulates the frequency and minimizes a global quadratic generation cost in the presence of a constant unknown demand. In addition, the proposed controller allows freedom in choosing any desired connected undirected weighted communication graph.",
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"issue": "",
"pages": "4110--4115",
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"identifiers": {},
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},
{
"identifiers": {},
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{
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},
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{
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"doi": "10.1109/cdc.2015.7402703"
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"citation": "Stegink, T., De Persis, C. & van der Schaft, A. A port-Hamiltonian approach to optimal frequency regulation in power grids. 2015 54th IEEE Conference on Decision and Control (CDC) 3224–3229 (2015) doi:10.1109/cdc.2015.7402703"
},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2015.10.207"
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"citation": "Stegink, T. W., Persis, C. D. & van der Schaft, A. J. Port-Hamiltonian Formulation of the Gradient Method Applied to Smart Grids. IFAC-PapersOnLine 48, 13–18 (2015)"
},
{
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"citation": "stegink, A unifying energy-based approach to stability of power grids with market dynamics. IEEE Transactions on Automatic Control (2016)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2015.11.021"
},
"citation": "Trip, S., Bürger, M. & De Persis, C. An internal model approach to (optimal) frequency regulation in power grids with time-varying voltages. Automatica 64, 240–253 (2016)"
},
{
"identifiers": {
"doi": "10.1561/2600000002"
},
"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. FnT in Systems and Control 1, 173–378 (2014)"
},
{
"identifiers": {
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},
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{
"identifiers": {},
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{
"identifiers": {
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{
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{
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{
"identifiers": {
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},
{
"identifiers": {},
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{
"identifiers": {
"doi": "10.1109/acc.2014.6859060"
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{
"identifiers": {},
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},
{
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"doi": "10.1109/59.962415"
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},
{
"identifiers": {
"doi": "10.1109/tac.2004.840477"
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}
]
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"identifiers": {
"doi": "10.1109/cdc.2016.7798983"
},
"type": "proceedings-article",
"title": "Interconnections of input-output Hamiltonian systems with dissipation",
"authors": [
{
"given": "Arjan",
"family": "van der Schaft",
"literal": null,
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"abstract": "Negative imaginary and counter-clockwise systems have attracted attention as an interesting class of systems, which is well-motivated by applications. In this paper first the formulation and extension of negative imaginary and counter-clockwise systems as (nonlinear) input-output Hamiltonian systems with dissipation is summarized. Next it is shown how by considering the time-derivative of the outputs a port-Hamiltonian system is obtained, and how this leads to the consideration of alternate passive outputs for port-Hamiltonian systems. Furthermore, a converse result to positive feedback interconnection of input-output Hamiltonian systems with dissipation is obtained, stating that the positive feedback interconnection of two linear systems is an input-output Hamiltonian system with dissipation if and only if the systems themselves are input-output Hamiltonian systems with dissipation. This implies that the Poisson and resistive structure matrices can be redefined in such a way that the interaction between the two systems only takes place via the coupling term in the Hamiltonian of the interconnected system. Subsequently, it is shown how the positive feedback interconnection of two nonlinear input-output Hamiltonian systems with dissipation can be extended to the network interconnection of such systems, and how this leads to a stability analysis of the interconnected system in terms of the Hamiltonians and output mappings of the component systems associated to the vertices, as well as of the network topology.",
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"issue": "",
"pages": "4686--4691",
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1016/j.automatica.2004.04.007"
},
"citation": "Jeltsema, D., Ortega, R. & M.A. Scherpen, J. An energy-balancing perspective of interconnection and damping assignment control of nonlinear systems. Automatica 40, 1643–1646 (2004)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2011.6160591"
},
"citation": "Kerber, F. & van der Schaft, A. Compositional properties of passivity. IEEE Conference on Decision and Control and European Control Conference 4628–4633 (2011) doi:10.1109/cdc.2011.6160591"
},
{
"identifiers": {
"doi": "10.1109/tac.2008.919567"
},
"citation": "Lanzon, A. & Petersen, I. R. Stability Robustness of a Feedback Interconnection of Systems With Negative Imaginary Frequency Response. IEEE Trans. Automat. Contr. 53, 1042–1046 (2008)"
},
{
"identifiers": {},
"citation": "maschke, Port-controlled Hamiltonian systems: modelling origins and system theoretic properties. Proceedings 2nd IFAC Symposium on Nonlinear Control Systems (NOLCOS 2004) (1992)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4757-2101-0"
},
"citation": "Nijmeijer, H. & van der Schaft, A. Nonlinear Dynamical Control Systems. (Springer New York, 1990). doi:10.1007/978-1-4757-2101-0"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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{
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{
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{
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"title": "On the use of structural invariants for the distributed control of infinite dimensional port-Hamitonian systems",
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"abstract": "In this paper the control by immersion and structural invariants is extended to the distributed control of infinite dimensional port-Hamiltonian systems defined on a 1D spatial domain. The main novelty lies in fact that the structural invariants are not used to shape the closed loop energy function but to modify the closed loop structure of the system by an appropriate choice of the controller structure. In particular it is shown that in the fully actuated case, this control strategy allows to transform an hyperbolic system composed of two conservation laws into a parabolic one. This work is illustrated on the example of the wave equation but can be easily generalised to a large class of systems encompassing vibrating strings and beam equations.",
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{
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"doi": "10.1109/tac.2016.2595263"
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"citation": "Macchelli, A., Le Gorrec, Y., Ramirez, H. & Zwart, H. On the Synthesis of Boundary Control Laws for Distributed Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 62, 1700–1713 (2017)"
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},
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"citation": "Maschke, B. M., Van Der Schaft, A. J. & Breedveld, P. C. An intrinsic hamiltonian formulation of network dynamics: non-standard poisson structures and gyrators. Journal of the Franklin Institute 329, 923–966 (1992)"
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"doi": "10.1109/tac.2008.2007176"
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"title": "Boundary control of distributed port-hamiltonian systems via generalised canonical transformations",
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"given": "Alessandro",
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"abstract": "This paper presents a novel approach for the development of boundary control laws for a class of linear, distributed port-Hamiltonian systems, with one dimensional spatial domain. The idea is to determine a control action able to map the initial system into a target one, characterised not only by a different Hamiltonian function, but also by new internal dissipative and power-preserving interconnection structures. The methodology consists of two main steps, each associated to a generalised canonical transformation. In the first one, a coordinate change (based on a combination of a linear mapping and a backstepping transformation) is employed to modify the internal structure of the system. Then, in the second step, a generalised canonical transformation capable of properly shaping the Hamiltonian function is introduced. The proposed approach is illustrated with the help of an example, the boundary stabilisation of a lossless transmission line.",
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"citation": "Macchelli, A., Le Gorrec, Y., Ramirez, H. & Zwart, H. On the Synthesis of Boundary Control Laws for Distributed Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 62, 1700–1713 (2017)"
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"doi": "10.1016/s0167-6911(00)00091-8"
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"citation": "Fujimoto, K. & Sugie, T. Canonical transformation and stabilization of generalized Hamiltonian systems. Systems & Control Letters 42, 217–227 (2001)"
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"citation": "Macchelli, A. On the control by interconnection and exponential stabilisation of infinite dimensional port-Hamiltonian systems. 2016 IEEE 55th Conference on Decision and Control (CDC) 3137–3142 (2016) doi:10.1109/cdc.2016.7798739"
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"doi": "10.1109/tac.2013.2274723"
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"citation": "Di Meglio, F., Vazquez, R. & Krstic, M. Stabilization of a System of <formula formulatype=\"inline\"> <tex Notation=\"TeX\">$n+1$</tex></formula> Coupled First-Order Hyperbolic Linear PDEs With a Single Boundary Input. IEEE Trans. Automat. Contr. 58, 3097–3111 (2013)"
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"identifiers": {
"doi": "10.1109/cdc.2016.7798324"
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"citation": "Vazquez, R. & Krstic, M. Bilateral boundary control of one-dimensional first- and second-order PDEs using infinite-dimensional backstepping. 2016 IEEE 55th Conference on Decision and Control (CDC) 537–542 (2016) doi:10.1109/cdc.2016.7798324"
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"doi": "10.1016/s0393-0440(01)00083-3"
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"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
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"doi": "10.1561/2600000002"
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"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. FnT in Systems and Control 1, 173–378 (2014)"
},
{
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"citation": "macchelli, Modeling and Control of Complex Physical Systems The Port-Hamiltonian Approach (2009)"
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"identifiers": {
"doi": "10.1137/040611677"
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"citation": "Le Gorrec, Y., Zwart, H. & Maschke, B. Dirac structures and Boundary Control Systems associated with Skew-Symmetric Differential Operators. SIAM J. Control Optim. 44, 1864–1892 (2005)"
},
{
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"doi": "10.1016/j.ejcon.2013.10.002"
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"citation": "Macchelli, A. Boundary energy shaping of linear distributed port-Hamiltonian systems. European Journal of Control 19, 521–528 (2013)"
},
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"doi": "10.1109/tac.2012.2235739"
},
"citation": "Schoberl, M. & Siuka, A. On Casimir Functionals for Infinite-Dimensional Port-Hamiltonian Control Systems. IEEE Trans. Automat. Contr. 58, 1823–1828 (2013)"
},
{
"identifiers": {
"doi": "10.1007/978-3-642-03196-0"
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"citation": "Duindam, V., Macchelli, A., Stramigioli, S. & Bruyninckx, H. Modeling and Control of Complex Physical Systems. (Springer Berlin Heidelberg, 2009). doi:10.1007/978-3-642-03196-0"
},
{
"identifiers": {
"doi": "10.1109/tac.2014.2315754"
},
"citation": "Ramirez, H., Le Gorrec, Y., Macchelli, A. & Zwart, H. Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback. IEEE Trans. Automat. Contr. 59, 2849–2855 (2014)"
},
{
"identifiers": {},
"citation": "maschke, Port controlled Hamiltonian systems: modeling origins and system theoretic properties. Nonlinear Control Systems (NOLCOS 1992) Proceedings of the 3rd IFAC Symposium on (1992)"
},
{
"identifiers": {
"doi": "10.1109/tac.2008.2007176"
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"title": "On backstepping boundary control for a class of linear port-Hamiltonian systems",
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"abstract": "Backstepping boundary control is investigated for a class of linear port-Hamiltonian systems. It is shown that by considering as target system an exponentially stable dissipative PHS, i.e. a PHS with a linear dissipation term and homogeneous boundary conditions, a coordinate transformation based on a multiplicative operator suffices to map the open-loop system into the target system. The condition for the existence of the transformation is algebraic. Hence, the backstepping transformation and the associated matching condition are simpler than the conventional ones that considers Volterra integral terms and kernel conditions in the form of partial differential equations. Since the controller has been developed for a general class of linear PHS it is applicable to a large class of physical systems, as for instance transport, beam and wave equations. The result is illustrated on the examples of a transport equation and a vibrating string on a 1D spatial domain.",
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"citation": "Zwart, H., Le Gorrec, Y., Maschke, B. & Villegas, J. Well-posedness and regularity of hyperbolic boundary control systems on a one-dimensional spatial domain. ESAIM: COCV 16, 1077–1093 (2009)"
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"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y., Maschke, B. & van der Schaft, A. J. Stability and Stabilization of a Class of Boundary Control Systems. Proceedings of the 44th IEEE Conference on Decision and Control 3850–3855 doi:10.1109/cdc.2005.1582762"
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"citation": "Ramirez, H., Le Gorrec, Y., Macchelli, A. & Zwart, H. Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback. IEEE Trans. Automat. Contr. 59, 2849–2855 (2014)"
},
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"citation": "Fattorini, H. O. Boundary Control Systems. SIAM Journal on Control 6, 349–385 (1968)"
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"citation": "Diagne, A., Diagne, M., Tang, S. & Krstic, M. Backstepping stabilization of the linearized Saint-Venant–Exner model. Automatica 76, 345–354 (2017)"
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"citation": "Ramirez, H., Zwart, H. & Le Gorrec, Y. Stabilization of infinite dimensional port-Hamiltonian systems by nonlinear dynamic boundary control. Automatica 85, 61–69 (2017)"
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"doi": "10.1007/978-1-4471-0507-7"
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"title": "Stability analysis of repetitive control: The port-Hamiltonian approach",
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"given": "Federico",
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"abstract": "This paper deals with two different topics that, at a first sight, could look quite unrelated. The first one is about repetitive control: the scope is to determine a class of linear systems for which such control technique can be successfully applied, i.e. the resulting closed-loop system is stable. In repetitive control schemes, coupled PDEs and ODEs are present, and the idea is to rely on a port-Hamiltonian formulation, and on the properties of passive/dissipative systems to study the behaviour of the closed-loop dynamic. To perform this analysis, novel results dealing with the exponential stabilisation of linear boundary control system with one-dimensional spatial domain in port-Hamiltonian form via finite dimensional linear controllers are presented. This is in fact the second topic discussed in this paper, and the achieved results are applied in order to characterise a class of linear systems for which repetitive control schemes exponentially converge.",
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"pages": "1894--1899",
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"doi": "10.1007/978-3-642-03196-0"
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"citation": "macchelli, Modeling and Control of Complex Physical Systems The Port-Hamiltonian Approach (2009)"
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"citation": "Macchelli, A. Boundary energy shaping of linear distributed port-Hamiltonian systems. European Journal of Control 19, 521–528 (2013)"
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"doi": "10.1109/tac.2016.2595263"
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"citation": "Macchelli, A., Le Gorrec, Y., Ramirez, H. & Zwart, H. On the Synthesis of Boundary Control Laws for Distributed Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 62, 1700–1713 (2017)"
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"doi": "10.1109/tac.2008.2007176"
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"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y. & Maschke, B. Exponential Stability of a Class of Boundary Control Systems. IEEE Trans. Automat. Contr. 54, 142–147 (2009)"
},
{
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"citation": "jacob, Linear Port-Hamiltonian Systems on Infinite-dimensional Spaces ser Operator Theory Advances and Applications (2012)"
},
{
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"doi": "10.1137/0306025"
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"citation": "Fattorini, H. O. Boundary Control Systems. SIAM Journal on Control 6, 349–385 (1968)"
},
{
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"doi": "10.1109/9.1274"
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"citation": "Hara, S., Yamamoto, Y., Omata, T. & Nakano, M. Repetitive control system: a new type servo system for periodic exogenous signals. IEEE Trans. Automat. Contr. 33, 659–668 (1988)"
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{
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"doi": "10.1007/978-1-4612-4224-6"
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"citation": "Curtain, R. F. & Zwart, H. An Introduction to Infinite-Dimensional Linear Systems Theory. Texts in Applied Mathematics (Springer New York, 1995). doi:10.1007/978-1-4612-4224-6"
},
{
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"doi": "10.1109/tac.2014.2315754"
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"citation": "Ramirez, H., Le Gorrec, Y., Macchelli, A. & Zwart, H. Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback. IEEE Trans. Automat. Contr. 59, 2849–2855 (2014)"
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"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y., Maschke, B. & van der Schaft, A. J. Stability and Stabilization of a Class of Boundary Control Systems. Proceedings of the 44th IEEE Conference on Decision and Control 3850–3855 doi:10.1109/cdc.2005.1582762"
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"type": "proceedings-article",
"title": "On stochastic port-hamiltonian systems with boundary control and observation",
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{
"given": "F.",
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"abstract": "Stochastic port-Hamiltonian systems on infinite-dimensional spaces governed by Ito stochastic differential equations (SDEs) are introduced and some properties of this new class of systems are studied. They are a stochastic counterpart of boundary controlled port-Hamiltonian systems. The noise process is modelized as a Hilbert space-valued stochastic integral w.r.t. a Wiener process. The theory is illustrated on an example of a vibrating string with an element of randomness.",
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{
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{
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"type": "proceedings-article",
"title": "On potential function design for path following control of port-Hamiltonian systems",
"authors": [
{
"given": "Yuki",
"family": "Okura",
"literal": null,
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"abstract": "This paper describes a procedure to design potential functions for path following control of port-Hamiltonian systems. The conventional path following control method needs to find a time invariant potential function which takes its minimum on the desired path. It is so difficult to find a potential function for a complex path. Inspired by the results of existing trajectory tracking control of port-Hamiltonian systems, we propose an improved path following control method. By solving partial differential equations, a potential function for path following control is acquired.",
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{
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"identifiers": {
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},
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"title": "Port-hamiltonian control of power electronic converters to achieve passivity",
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"abstract": "In this paper, a control framework is proposed to render a power electronic converter passive by using the port-Hamiltonian (PH) theory. As a result, the stability of the system is guaranteed if the rest of the system that the power electronic converter connects to is passive. The controller consists of two control loops, which form a passive port-Hamiltonian (PH) system, and one lossless block, which interconnects the passive block with the plant. In order to facilitate the implementation of the framework, a new word quorte is coined to represent the quantity that is dual to the torque. Simulation results are presented to demonstrate the effectiveness of the control framework in both grid-connected and islanded modes.",
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"type": "proceedings-article",
"title": "Position Control of Dielectric Elastomer Actuators Based on Port-Hamiltonian Framework",
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"given": "Giuseppe",
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"given": "Gianluca",
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"abstract": "This paper deals with position control of an actuator system consisting of a dielectric elastomer membrane biased with a combination of a linear and a bi-stable spring. The highly nonlinear response of dielectric elastomer material, in conjunction with the bi-stable biasing spring, makes the control of the overall system challenging. To systematically address the design of the control system, a novel approach is proposed based on port-Hamiltonian (PH) theory. First, based on a recently developed PH model of the dielectric elastomer material, a PH model of the overall actuator system is obtained. Subsequently, several control laws are designed by means of PH theory, i.e., interconnection and damping assignment passivity-based control (IDA-PBC), and IDA-PBC with integral of non-passive output for robust regulation. The developed control laws are finally compared with a conventional PID, showing improved dynamic performance in the overall actuation range.",
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"identifiers": {
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{
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{
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
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{
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{
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{
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"identifiers": {
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"doi": "10.1016/j.sna.2017.10.010"
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"citation": "Nguyen, C. T., Phung, H., Nguyen, T. D., Jung, H. & Choi, H. R. Multiple-degrees-of-freedom dielectric elastomer actuators for soft printable hexapod robot. Sensors and Actuators A: Physical 267, 505–516 (2017)"
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"doi": "10.1088/0964-1726/15/4/004"
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"doi": "10.1109/tmech.2016.2591069"
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"citation": "Zou, J., Gu, G.-Y. & Zhu, L.-M. Open-Loop Control of Creep and Vibration in Dielectric Elastomer Actuators With Phenomenological Models. IEEE/ASME Trans. Mechatron. 22, 51–58 (2017)"
},
{
"identifiers": {
"doi": "10.1088/0964-1726/22/10/104010"
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},
{
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{
"identifiers": {
"doi": "10.1109/tcst.2016.2519839"
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"citation": "Rizzello, G., Naso, D., Turchiano, B. & Seelecke, S. Robust Position Control of Dielectric Elastomer Actuators Based on LMI Optimization. IEEE Trans. Contr. Syst. Technol. 24, 1909–1921 (2016)"
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"type": "proceedings-article",
"title": "Passivity-Based Observer Design for State Affine Systems Using Interconnection and Damping Assignment",
"authors": [
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"given": "Bastian",
"family": "Biedermann",
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"abstract": "A passivity-based observer design is presented for state affine systems. The observer convergence is addressed by systematically determining the output injection so that the observer error dynamics takes the form of an autonomous, passive port-Hamiltonian system. In this respect, the design resembles the interconnection and damping assignment passivity-based controller (IDA - PBC) used for the feedback stabilization of port-Hamiltonian systems. The observer performance is analyzed and illustrated in simulation examples.",
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{
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{
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{
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{
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"citation": "Duindam, V., Macchelli, A., Stramigioli, S. & Bruyninckx, H. Modeling and Control of Complex Physical Systems. (Springer Berlin Heidelberg, 2009). doi:10.1007/978-3-642-03196-0"
},
{
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"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
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{
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{
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"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
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"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
}
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"doi": "10.1109/cdc.2018.8619261"
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"type": "proceedings-article",
"title": "On Path Following Control of Port-Hamiltonian Systems by Bayesian Inference with Training Trajectory Data",
"authors": [
{
"given": "Yuki",
"family": "Okura",
"literal": null,
"source_fields": {
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{
"given": "Kenji",
"family": "Fujimoto",
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{
"given": "Akio",
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"given": "Hidetoshi",
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"abstract": "This paper describes a procedure to design a path following controller of port-Hamiltonian systems based on training trajectory data. In order to calculate the reasonable design parameters for path following controller from the training data, Bayesian inference is adopted in this paper. By using Bayesian inference, not only the mean value of the trajectory but also the covariance matrix is acquired. By incorporating the covariance information into the control system design, it is expected to create a potential function that takes into account uncertainty at each position on the trajectory.",
"container_title": "2018 IEEE Conference on Decision and Control (CDC)",
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"volume": "",
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"pages": "1956--1960",
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"references": [
{
"identifiers": {
"doi": "10.3166/ejc.10.411-420"
},
"citation": "Duindam, V. & Stramigioli, S. Port-Based Asymptotic Curve Tracking for Mechanical Systems. European Journal of Control 10, 411–420 (2004)"
},
{
"identifiers": {
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"abstract": "In this paper, we consider nonlinear PDEs in a port-Hamiltonian setting based on an underlying jet-bundle structure. We restrict ourselves to systems with 1-dimensional spatial domain and 2nd-order Hamiltonian including certain dissipation models that can be incorporated in the port-Hamiltonian framework by means of appropriate differential operators. For this system class, energy-based control by means of Casimir functionals as well as energy balancing is analysed and demonstrated using a nonlinear Euler-Bernoulli beam.",
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"title": "Port-Hamiltonian Models for Flow of Incompressible Fluids in Rigid Pipelines with Faults",
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"abstract": "This paper presents port-Hamiltonian models for describing flow dynamics of incompressible fluids in rigid pipelines with faults. Two types of faults are addressed in this paper: leaks and partial blockages. In order to facilitate the understanding of the modeling, the proposed formulation is introduced starting from the analogy between electrical and hydraulic circuits. Thanks to the port-Hamiltonian formalism the models proposed here have a particular structure that makes them plug-in and modular, so that they can be interconnected for building holistic models for faulty water distribution networks.",
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"type": "proceedings-article",
"title": "A Port-Hamiltonian Approach to Plug-and-Play Voltage and Frequency Control in Islanded Inverter-Based AC Microgrids",
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"given": "Felix",
"family": "Strehle",
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"abstract": "In this paper, we propose a decentralized scalable, plug-and-play control of voltage-source inverters (VSIs) in islanded, inverter-based AC micro-grids at primary level. Particularly in islanded mode without inertia from conventional generators in the main grid, voltage and frequency stabilization must be performed exclusively by these VSIs. In contrast to existing approaches, we propose a systematic procedure that does not require the proposition of a Lyapunov function as well as avoids computationally expensive and possibly infeasible numerical optimization. It follows passivity techniques, namely interconnection and damping assignment passivity-based control (IDA-PBC) on the basis of port-Hamiltonian systems (PHSs) theory. By employing the Hamiltonian naturally obtained from the PHS approach as Lyapunov function and analyzing load dynamics, we prove microgrid-wide asymptotic voltage and frequency stability. A simulation validating our theoretical results concludes our work.",
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"pages": "4648--4655",
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"title": "Interconnection of the Kirchhoff plate within the port-Hamiltonian framework",
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"abstract": "The Kirchhoff plate model is detailed by using a tensorial port-Hamiltonian (pH) formulation. A structure-preserving discretization of this model is then achieved by using the partitioned finite element (PFEM). This methodology easily accounts for the boundary variables and the finite-dimensional system can be interconnected to the surrounding environment in a simple and structured manner. The algebraic constraints to be considered are deduced from the boundary conditions, that may be homogeneous or defined by an interconnection with another pH system.The versatility of the proposed approach is assessed by means of numerical simulations. A first illustration considers a rectangular plate clamped on one side and interconnected to a rigid rod welded to the opposite side. A second example exploits the collocated output feature of pH systems to perform damping injection in a plate undergoing an external forcing. A stability proof is obtained by the application of the LaSalle’s invariance principle.",
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"doi": "10.1016/j.jcp.2018.02.006"
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"citation": "Kotyczka, P., Maschke, B. & Lefèvre, L. Weak form of Stokes–Dirac structures and geometric discretization of port-Hamiltonian systems. Journal of Computational Physics 361, 442–476 (2018)"
},
{
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"abstract": "In this paper we consider the feedback equivalence of homogeneous Hamiltonian control systems. These systems are Hamiltonian control systems which are generated by Hamiltonian drift (autonomous) and control Hamiltonian functions that are homogeneous of degree 1 in the momentum variables, and arise in the Hamiltonian model structure of open thermodynamic systems. It may be shown that the homogeneity conditions can be translated as the invariance of the Liouville 1form. We consider the problem of characterizing classes of state feedbacks for which the closed-loop system is again Hamiltonian and leaves invariant some closed-loop 1-form. In the case when the open- and closed loop 1-forms differ by an added 1-form which is exact, we derive matching equations between the generating function of the added 1-form and the added Hamiltonian function. This approach is applied to the simple example of a non-isothermal mass-spring-damper system.",
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"title": "Inferring Particle Interaction Physical Models and Their Dynamical Properties",
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"given": "Ion",
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"abstract": "We propose a framework based on port-Hamiltonian modeling formalism aimed at learning interaction models between particles (or networked systems) and dynamical properties such as trajectory symmetries and conservation laws of the ensemble (or swarm). The learning process is based on approaches and platforms used for large scale optimization and uses features such as automatic differentiation to compute gradients of optimization loss functions. We showcase our approach on the Cucker-Smale particle interaction model, which is first represented in a port-Hamiltonian form, and for which we re-discover the interaction model, and learn dynamical properties that are previously proved analytically. Our approach has the potential for discovering novel particle cooperation rules that can be extracted and used in cooperative control system applications.",
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{
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{
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{
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"title": "Interval Input-State-Output Estimation for Linear Port-Hamiltonian Systems with Application to Power Distribution Systems",
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"given": "Martin",
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"abstract": "This paper addresses the problem of estimating inputs, states, and outputs of a port-Hamiltonian system (PHS). We consider linear, complex-valued PHSs with linear measurements subject to interval uncertainties. Two interval input-state-output estimators are developed and a necessary and sufficient existence condition is given; stability and inclusion are proven. The two estimators are applied to an estimation problem in an electric power system. Numerical simulations proof the validity of the proposed methods.",
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"given": "Justin M.",
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"abstract": "Rejecting wave disturbances is critical to the safe and efficient operation of marine vehicles at sea. In this paper, we use a port-Hamiltonian representation of marine vehicles to develop a passivity-based controller for the suppression of unknown input wave disturbances using a harmonic representation while tracking a time varying reference signal. Our controller is an extension of the tracking controller of [1], with the addition of the input disturbance suppression using an internal model unit from [2]. We show exponential stability for the tracking controller, and utilise Barbalat’s Lemma to show that all the signals in the input disturbance suppression controller are bounded. We illustrate our results through simulations.",
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"title": "Implicit IDA-PBC for Underactuated Mechanical Systems: An LMI-based Approach",
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"given": "Oscar B.",
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"abstract": "Recently, the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) methodology has been extended to underactuated mechanical systems in implicit port-Hamiltonian representation. The method is not restricted to holonomic systems, does not require a positive-definite target inertia matrix and, under general conditions, avoids the need for solving partial differential equations. In this paper we simplify the conditions for (local) stability and present equivalent matching equations. In addition, we exploit the inherent polynomial structure of implicit systems modeled in Euclidean space, such that the implicit IDA-PBC problem can be cast as a linear matrix inequality problem. The method is applicable to desired Hamiltonians with arbitrary polynomial order. The proposed methodology is validated on the portal crane and the cart-pole system.",
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"pages": "7770--7775",
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{
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{
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"doi": "10.1109/cdc40024.2019.9029809"
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"type": "proceedings-article",
"title": "Discrete port-controlled Hamiltonian dynamics and average passivation",
"authors": [
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"given": "Alessio",
"family": "Moreschini",
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"abstract": "The paper discusses the modeling and control of port-controlled Hamiltonian dynamics in a pure discrete-time domain. The main result stands in a novel differential-difference representation of discrete port-controlled Hamiltonian systems using the discrete gradient. In these terms, a passive output map is exhibited as well as a passivity based damping controller underlying the natural involvement of discrete-time average passivity.",
"container_title": "2019 IEEE 58th Conference on Decision and Control (CDC)",
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"issue": "",
"pages": "1430--1435",
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{
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{
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"abstract": "In this contribution, we apply a spatial structure– preserving discretization scheme to a 1–D burning plasma model. The plasma dynamics are defined by a set of coupled conservation laws evolving in different physical domains, matching the port–Hamiltonian formalism in infinite dimension. This model describes the time evolution of magnetic, thermic, and material plasma profiles. A structure–preserving spectral collocation method is used to discretize the set of Partial Differential Equations (PDEs) into a finite–dimensional port– Hamiltonian system, a set of Ordinary Differential Equations (ODEs). The discretization scheme relies on the conservation of energy, based upon the transformation of Stokes–Dirac structures onto Dirac ones. Transport models and couplings are chosen to match with the experimental Tokamak ITER. Among the couplings, we include bootstrap and ohmic currents, ion–electron collision energy, radiation loses, and the fusion reaction. The obtained control model is compared with two steady–state operation points obtained from a physics–oriented plasma simulator.",
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"pages": "6869--6874",
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{
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"doi": "10.1016/j.ifacol.2016.10.761"
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"citation": "Vincent, B., Hudon, N., Lefèvre, L. & Dochain, D. Port-Hamiltonian observer design for plasma profile estimation in tokamaks. IFAC-PapersOnLine 49, 93–98 (2016)"
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"doi": "10.1016/j.ifacol.2017.08.2002"
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"citation": "Vincent, B., Hudon, N., Lefèvre, L. & Dochain, D. Burning magneto-hydrodynamics plasmas model: A port-based modelling approach. IFAC-PapersOnLine 50, 13038–13043 (2017)"
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"citation": "Vincent, B., Vu, T., Hudon, N., Lefèvre, L. & Dochain, D. Port-Hamiltonian modeling and reduction of a burning plasma system. IFAC-PapersOnLine 51, 68–73 (2018)"
},
{
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{
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{
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{
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"title": "Active control of the axisymmetric vibration modes of a tom-tom drum",
"authors": [
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"given": "Marc",
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"abstract": "This paper deals with an application of active control of percussion instruments. Our setup consists of a tom-tom drum with a circular membrane, a cylindrical cavity and a circular rigid wall on which a loudspeaker is mounted. The current applied to the loudspeaker is controlled in order to modify the frequencies of the drum membrane modes. First, a PDE model of the axisymmetric transverse vibration of the tom-tom membrane is developed. Subsequently, the equation is recast as an infinite-dimensional port-Hamiltonian system. The port-Hamiltonian framework enables us to develop a numerical scheme that preserves the power balance and guarantees a stable simulation. Finally, a control law for the loudspeaker current is designed to modify the frequency of the first axisymmetric vibration mode of the drum membrane, using finite-time and passivity-based methods.",
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"abstract": "We consider the port-Hamiltonian formulation of systems of two conservation laws with canonical interdomain coupling in one spatial dimension. Based on the structure-preserving discretization in space and time, we propose two directions for the estimation of the discrete states from boundary measurement. First, we design full state Luenberger observers for the linear case. To guarantee unconditional asymptotic stability of the discrete-time error system, special attention is paid to the implementation of the correction term in the sense of implicit damping injection. Second, we exploit the flatness of the considered class of possibly nonlinear hyperbolic systems, which is preserved under the applied geometric discretization schemes, to obtain a state estimation based on boundary measurement. Numerical experiments serve as a basis for the comparison and discussion of the two proposed discrete-time estimation schemes for hyperbolic conservation laws.",
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},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2016.10.761"
},
"citation": "Vincent, B., Hudon, N., Lefèvre, L. & Dochain, D. Port-Hamiltonian observer design for plasma profile estimation in tokamaks. IFAC-PapersOnLine 49, 93–98 (2016)"
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{
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"doi": "10.1007/978-3-642-03196-0"
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"citation": "Duindam, V., Macchelli, A., Stramigioli, S. & Bruyninckx, H. Modeling and Control of Complex Physical Systems. (Springer Berlin Heidelberg, 2009). doi:10.1007/978-3-642-03196-0"
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"doi": "10.1016/j.jcp.2018.06.051"
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"title": "Port-Hamiltonian modeling, discretization and feedback control of a circular water tank",
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"abstract": "This work presents the development of the nonlinear 2D Shallow Water Equations (SWE) in polar coordinates as a boundary port controlled Hamiltonian system. A geometric reduction by symmetry is obtained, simplifying the system to one-dimension. The recently developed Partitioned Finite Element Method is applied to semi-discretize the equations, preserving the boundary power-product of both the original 2D and the reduced 1D system. The main advantage of this power-preserving semi-discretization method is that it can be applied using well-established finite element software. In this work, we use FEniCS to solve the variational formulation, including the nonlinearity provided by the non-quadratic Hamiltonian of the SWE. A passive output-feedback controller using damping injection is used to dissipate the water waves.",
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"pages": "6881--6886",
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{
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{
"identifiers": {
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{
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{
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{
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"doi": "10.1109/cdc40024.2019.9030010"
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"type": "proceedings-article",
"title": "Hysteresis modeling in thermal shape memory alloy wire actuators: an irreversible port-Hamiltonian approach",
"authors": [
{
"given": "Gianluca",
"family": "Rizzello",
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{
"given": "David",
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"given": "Stefan",
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"abstract": "In this paper we present an irreversible port-Hamiltonian model for describing the hysteresis in thermal shape memory alloy (SMA) wire actuators. In contrast to most mechatronic actuators which are operated under isothermal conditions, SMA wires must be heated with an electric current to generate a stroke. As a result of the non-isothermal activation, concepts such as energy dissipation no longer hold from a thermodynamic viewpoint, thus making it difficult to quantitatively analyze the relationship between SMA hysteresis and system stability. Starting from a physics-based model of the SMA based on the work of Müller-Achenbach-Seelecke, a candidate Helmholtz free-energy function is first proposed to describe the material under non-isothermal condition. Based on this result, the system internal energy is constructed and used as a storage function for an irreversible port-Hamiltonian representation. The developed model permits to quantify the energetic performance of SMA wires during non-isothermal actuation, as well as to assess the system thermodynamic consistency based on irreversible entropy production. In addition, the model represents the first step towards the design of energy-based control systems for hysteresis compensation.",
"container_title": "2019 IEEE 58th Conference on Decision and Control (CDC)",
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"issue": "",
"pages": "7937--7943",
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"references": [
{
"identifiers": {
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},
"citation": "Macchelli, A., van der Schaft, A. J. & Melchiorri, C. Multi-variable port Hamiltonian model of piezoelectric material. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) vol. 1 897–902"
},
{
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},
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},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2017.08.974"
},
"citation": "Rizzello, G., Naso, D. & Seelecke, S. A Thermodynamically Consistent Port-Hamiltonian Model for Dielectric Elastomer Membrane Actuators and Generators. IFAC-PapersOnLine 50, 4855–4862 (2017)"
},
{
"identifiers": {},
"citation": "rizzello, Passivity Analysis and PortHamiltonian Formulation of the Müller-Achenbach-Seelecke Model for Shape Memory Alloys: the Isothermal Case. (2018)"
},
{
"identifiers": {
"doi": "10.1016/j.ces.2012.12.002"
},
"citation": "Ramirez, H., Maschke, B. & Sbarbaro, D. Irreversible port-Hamiltonian systems: A general formulation of irreversible processes with application to the CSTR. Chemical Engineering Science 89, 223–234 (2013)"
},
{
"identifiers": {
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},
"citation": "Struchtrup, H. Thermodynamics and Energy Conversion. (Springer Berlin Heidelberg, 2014). doi:10.1007/978-3-662-43715-5"
},
{
"identifiers": {
"doi": "10.1115/1.1584064"
},
"citation": "Seelecke, S. & Mu¨ller, I. Shape memory alloy actuators in smart structures: Modeling and simulation. Applied Mechanics Reviews 57, 23–46 (2004)"
},
{
"identifiers": {
"doi": "10.1177/1045389x12445036"
},
"citation": "Furst, S. J. & Seelecke, S. Modeling and experimental characterization of the stress, strain, and resistance of shape memory alloy actuator wires with controlled power input. Journal of Intelligent Material Systems and Structures 23, 1233–1247 (2012)"
},
{
"identifiers": {
"doi": "10.1088/1361-665x/aae3b8"
},
"citation": "Rizzello, G., Mandolino, M. A., Schmidt, M., Naso, D. & Seelecke, S. An accurate dynamic model for polycrystalline shape memory alloy wire actuators and sensors. Smart Mater. Struct. 28, 025020 (2019)"
},
{
"identifiers": {
"doi": "10.1016/s0895-7177(01)00134-0"
},
"citation": "Müller, I. & Seelecke, S. Thermodynamic aspects of shape memory alloys. Mathematical and Computer Modelling 34, 1307–1355 (2001)"
},
{
"identifiers": {},
"citation": "paiva, An overview of constitutive models for shape memory alloys. Mathematical Problems in Engineering (2005)"
},
{
"identifiers": {
"doi": "10.1016/j.sna.2004.10.001"
},
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},
{
"identifiers": {
"doi": "10.1016/j.mechatronics.2013.10.001"
},
"citation": "Zakerzadeh, M. R. & Sayyaadi, H. Precise position control of shape memory alloy actuator using inverse hysteresis model and model reference adaptive control system. Mechatronics 23, 1150–1162 (2013)"
},
{
"identifiers": {
"doi": "10.1109/87.896745"
},
"citation": "Majima, S., Kodama, K. & Hasegawa, T. Modeling of shape memory alloy actuator and tracking control system with the model. IEEE Trans. Contr. Syst. Technol. 9, 54–59 (2001)"
},
{
"identifiers": {
"doi": "10.1007/978-3-642-03196-0"
},
"citation": "Duindam, V., Macchelli, A., Stramigioli, S. & Bruyninckx, H. Modeling and Control of Complex Physical Systems. (Springer Berlin Heidelberg, 2009). doi:10.1007/978-3-642-03196-0"
},
{
"identifiers": {
"doi": "10.23919/acc.2017.7962951"
},
"citation": "Toledo, L. F., Ge, J. Z., Oxoby, J. M., Chen, Y. & Perez-Arancibia, N. O. System identification of a NiTi-based SMA actuator using a modified Preisach model and adaptive control. 2017 American Control Conference (ACC) 183–190 (2017) doi:10.23919/acc.2017.7962951"
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{
"identifiers": {
"doi": "10.1109/isic.2013.6658620"
},
"citation": "Chaitanya S., K. & K., D. Demonstration of self-sensing in Shape Memory Alloy actuated gripper. 2013 IEEE International Symposium on Intelligent Control (ISIC) 218–222 (2013) doi:10.1109/isic.2013.6658620"
},
{
"identifiers": {
"doi": "10.1177/2041304110394531"
},
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},
{
"identifiers": {},
"citation": "calchand, Port hamiltonian modeling of msma based actuator: toward a thermodynamically consistent formulation. (0)"
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"id": "07d970b0-8bc8-5b7f-9e6a-fd222f8a0fd5",
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"doi": "10.1109/cdc40024.2019.9030017"
},
"type": "proceedings-article",
"title": "Port–Hamiltonian Approach to Neural Network Training",
"authors": [
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"given": "Stefano",
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"given": "Federico",
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"given": "Atsushi",
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"given": "Hajime",
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"abstract": "Neural networks are discrete entities: subdivided into discrete layers and parametrized by weights which are iteratively optimized via difference equations. Recent work proposes networks with layer outputs which are no longer quantized but are solutions of an ordinary differential equation (ODE); however, these networks are still optimized via discrete methods (e.g. gradient descent). In this paper, we explore a different direction: namely, we propose a novel framework for learning in which the parameters themselves are solutions of ODEs. By viewing the optimization process as the evolution of a port-Hamiltonian system, we can ensure convergence to a minimum of the objective function. Numerical experiments have been performed to show the validity and effectiveness of the proposed methods.",
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"issue": "",
"pages": "6799--6806",
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"type": "proceedings-article",
"title": "From Dirac structure to state model: identification of linear time-varying port-Hamiltonian systems",
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"given": "Edward",
"family": "Branford",
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"abstract": "We use energy conservation and power flows in port-Hamiltonian systems to develop a system identification procedure for linear time-varying systems. The basic idea is to use external energy flows to obtain information on internal energy storage, and hence state trajectories. Given N input and output trajectories (uk, yk ), k = 1, … , N of a linear port- Hamiltonian system, and additional information on resistive variables, a set of state trajectories xk, k = 1, …, N is computed via factorisation of a matrix of functions constructed from the external information. The basis transformation associated with a canonical factorisation of this matrix is discussed.",
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"pages": "2666--2671",
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},
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"identifiers": {
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{
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"doi": "10.1109/cdc40024.2019.9030180"
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"type": "proceedings-article",
"title": "Structure-preserving discretization for port-Hamiltonian descriptor systems",
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"given": "Volker",
"family": "Mehrmann",
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"abstract": "We extend the modeling framework of port-Hamiltonian descriptor systems to include under- and overdetermined systems and arbitrary differentiable Hamiltonian functions. This structure is associated with a Dirac structure that encloses its energy balance properties. In particular, port-Hamiltonian systems are naturally passive and Lyapunov stable, because the Hamiltonian defines a Lyapunov function. The explicit representation of input and dissipation in the structure make these systems particularly suitable for output feedback control. It is shown that this structure is invariant under a wide class of nonlinear transformations, and that it can be naturally modularized, making it adequate for automated modeling. We investigate then the application of time-discretization schemes to these systems and we show that, under certain assumptions on the Hamiltonian, structure preservation is achieved for some methods. Relevant examples are provided.",
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"pages": "6863--6868",
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{
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{
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"identifiers": {
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"citation": "Beattie, C., Mehrmann, V., Xu, H. & Zwart, H. Linear port-Hamiltonian descriptor systems. Math. Control Signals Syst. 30, (2018)"
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{
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"citation": "Kotyczka, P. & Lefèvre, L. Discrete-time port-Hamiltonian systems based on Gauss-Legendre collocation ⁎ ⁎P. Kotyczka received financial support as a part-time post-doctoral researcher (03/17–08/17) from the DFG-ANR funded project INFI-DHEM (no ANR-16-CE92-0028) and by a part-time visiting fellowship of Grenoble INP in summer term 2017. The work makes also part of the project KO 4750/1-1, funded by the German Research Foundation (DFG). IFAC-PapersOnLine 51, 125–130 (2018)"
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{
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{
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"type": "proceedings-article",
"title": "A passivity-inspired design of power-voltage droop controllers for DC microgrids with electrical network dynamics",
"authors": [
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"given": "Juan E.",
"family": "Machado",
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"given": "Johannes",
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"abstract": "We propose a design procedure for a power-voltage droop controller in structure-preserving DC microgrids under explicit consideration of the electrical network dynamics. Differently from most related literature, the system’s controlled output is taken as the power—not the current—injection at each generation unit, yielding a nonlinear closed-loop system. This makes the output regulation problem non-trivial, yet far more appealing in a practical setting than the usual linear current-voltage droop control. Our approach is inspired by passivity-based control design in the sense that we exploit the natural port-Hamiltonian representation of the system dynamics and its associated shifted Hamiltonian to derive a control law together with sufficient conditions on the tuning gains that guarantee global asymptotic stability. The analysis is illustrated via detailed simulations, where accurate power sharing is manifested among the distributed generation units in the presence of load variations.",
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},
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"id": "ab73d12e-1c95-549a-a4fd-84076c7d52ab",
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"doi": "10.1109/cdc42340.2020.9304038"
},
"type": "proceedings-article",
"title": "Stabilisation of a Rotating Beam Clamped on a Moving Inertia with Strong Dissipation Feedback",
"authors": [
{
"given": "Andrea",
"family": "Mattioni",
"literal": null,
"source_fields": {
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}
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{
"given": "Yongxin",
"family": "Wu",
"literal": null,
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"affiliation": []
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{
"given": "Yann Le",
"family": "Gorrec",
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{
"given": "Hans",
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"abstract": "In this paper we consider the stabilization problem of a beam clamped on a moving inertia actuated by an external torque and force. The beam is modelled as a distributed parameter port-Hamiltonian system (PDEs), while the inertia as a finite dimensional port-Hamiltonian system (ODEs). The control inputs correspond to a torque applied by a rotating motor and a force applied by a linear motor. In this paper we propose the use of a strong dissipation term in the control law, consisting of the time derivative of the restoring force at the clamping point. After a change of variables, the closed loop system shows dissipation at the boundaries of the PDEs. In this preliminary work we show that the closed loop operator is the generator of a contraction C0-semigroup in a special weighted space, with norm equivalent to the standard one. Further, we prove the asymptotic stability of the closed loop system and we show the effectiveness of the proposed control law in comparison with a PD controller with the help of numerical simulations.",
"container_title": "2020 59th IEEE Conference on Decision and Control (CDC)",
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"issue": "",
"pages": "5056--5061",
"publisher": "IEEE",
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"keywords": [],
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"references": [
{
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{
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"title": "A New Riemannian Framework for Efficient ℋ2-Optimal Model Reduction of Port-Hamiltonian Systems",
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"abstract": "We present a new framework for ℋ2-optimal model reduction of linear port-Hamiltonian systems. The approach retains structural properties of the original system, such as passivity, and is based on the efficient pole-residue formulation of the ℋ2-error norm. This makes Riemannian optimization computationally feasible for large-scale dynamical systems as well, which is supported by a numerical example.",
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"type": "proceedings-article",
"title": "Structure-preserving Spatial Discretization of a Two-Fluid Model",
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{
"given": "H.",
"family": "Bansal",
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"affiliation": [
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"name": "Eindhoven University of Technology,Department of Mathematics and Computer Science,The Netherlands"
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"abstract": "We present a structure-preserving spatial discretization method for infinite-dimensional non-linear port-Hamiltonian representations of a commonly used one-dimensional two-phase flow model: the Two-Fluid Model. We introduce the port-Hamiltonian representation of this two-phase flow model and then invoke a mixed-finite-element method to perform a structure-preserving spatial discretization. Consequently, we obtain a finite-dimensional realization of a recently proposed novel Stokes-Dirac structure for this model. The properties of the resulting finite-dimensional realization are assessed and the conditions under which it is known to respect the properties of a finite-dimensional Dirac structure are discussed. Moreover, we derive the complete finite-dimensional interconnected port-Hamiltonian model by invoking the notion of power-preserving interconnection.",
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{
"identifiers": {
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{
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{
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{
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{
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{
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{
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{
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},
{
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{
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{
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},
{
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{
"identifiers": {
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{
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{
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{
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},
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},
{
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{
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},
{
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},
{
"identifiers": {},
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{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
"citation": "Le Gorrec, Y., Zwart, H. & Maschke, B. Dirac structures and Boundary Control Systems associated with Skew-Symmetric Differential Operators. SIAM J. Control Optim. 44, 1864–1892 (2005)"
}
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"doi": "10.1109/cdc45484.2021.9682864"
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"type": "proceedings-article",
"title": "Voltage Regulation for a Self-Excited Induction Generator",
"authors": [
{
"given": "Luis Miguel",
"family": "Esquivel-Sancho",
"literal": null,
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"given": "Roberto",
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"given": "Mauricio",
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"abstract": "The self-excited induction generator presents important advantages for isolated generation systems ranging from low cost to simplicity of construction, operation, and maintenance. The complexity of the output voltage regulation problem for the generator is due to the nonlinear dynamics effects in presence of variable systems loads. The main contribution of the current work is first a generalization of the modeling approach to the self-exited squirrel-cage induction generator which is based on a stationary d-q frame of reference. The modeling approach is done via an energy-based strategy, more specifically, the port-Hamiltonian framework. Furthermore, we present here a novel control law based on a trajectory tracking strategy in order to attain asymptotic stability on a time-variant desired voltage at the output of the generator. The control action based on a so-called error system approach is focused on an exerted torque on the generator’s shaft. The performance of our modeling and control approach is validated via numerical simulations.",
"container_title": "2021 60th IEEE Conference on Decision and Control (CDC)",
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"references": [
{
"identifiers": {
"doi": "10.1109/tec.2006.875432"
},
"citation": "Chatterjee, J. K., Perumal, B. V. & Gopu, N. R. Analysis of Operation of a Self-Excited Induction Generator With Generalized Impedance Controller. IEEE Transactions on Energy Conversion vol. 22 307–315 (2007)"
},
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"type": "proceedings-article",
"title": "On Energy Conversion in Port-Hamiltonian Systems",
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"given": "Arjan",
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"abstract": "Port-Hamiltonian systems with two external ports are studied, together with the strategies and obstructions for conversion of energy from one port to the other. Apart from the cyclo-passivity properties, this turns out to be intimately related to the interconnection topology of the system. A prime source of motivation for energy conversion is thermodynamics, in particular the Carnot-Clausius heat engine theory about conversion of thermal into mechanical energy. This classical theory is extended to general port-Hamiltonian systems satisfying structural conditions on their topology. In particular, the operation of Carnot cycles is generalized. This is illustrated by the examples of a precursor to the Stirling engine and an electro-mechanical actuator. Finally, alternative energy conversion schemes for general port-Hamiltonian systems, such as energy-routers, are discussed from the same vantage point.",
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"pages": "2421--2427",
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"doi": "10.1109/cdc45484.2021.9683501"
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"type": "proceedings-article",
"title": "Stability of the multidimensional wave equation in port-Hamiltonian modelling",
"authors": [
{
"given": "Birgit",
"family": "Jacob",
"literal": null,
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"sequence": "first",
"affiliation": [
{
"name": "Bergische Universität Wuppertal,Fakultät für Mathematik und Natur-Wissenschaften, IMACM,Germany"
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{
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{
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"abstract": "We investigate the stability of the wave equation with spatial dependent coefficients on a bounded multidimensional domain. The system is stabilized via a scattering passive feedback law. We formulate the wave equation in a port-Hamiltonian fashion and show that the system is semi-uniformly stable, which is a stability concept between exponential stability and strong stability. Hence, this also implies strong stability of the system. In particular, classical solutions are uniformly stable. This will be achieved by showing that the spectrum of the port-Hamiltonian operator is contained in the left half plane C− and the port-Hamiltonian operator generates a contraction semigroup. Moreover, we show that the spectrum consists of eigenvalues only and the port-Hamiltonian operator has a compact resolvent.",
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"issue": "",
"pages": "6188--6193",
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"doi": "10.1109/cdc45484.2021.9683504"
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"type": "proceedings-article",
"title": "Exponential stabilization of a clamped Timoshenko beam with actuation on a tip mass",
"authors": [
{
"given": "Andrea",
"family": "Mattioni",
"literal": null,
"source_fields": {
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{
"given": "Yongxin",
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"abstract": "In this paper, we consider the stabilization of a clamped beam with torque and force actuation on a mass situated at the other side of the beam. We show how to derive the model starting from the Principle of Least Action and we rewrite it as the interconnection between two port- Hamiltonian systems: an infinite dimensional system and a finite dimensional one. Therefore, we propose a control law that allows to exponentially stabilize the origin of the closed- loop system. Further, we show how to explicitly compute, from the system and control parameters, the exponential decreasing rate of the system's norm along time. For a sake of conciseness, we only sketch the theoretical proofs. Finally, we provide some numerical simulations illustrating the closed-loop performances with different choices of the control parameters.",
"container_title": "2021 60th IEEE Conference on Decision and Control (CDC)",
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"volume": "",
"issue": "",
"pages": "6200--6205",
"publisher": "IEEE",
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"references": [
{
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{
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},
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},
{
"identifiers": {
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},
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{
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{
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},
{
"id": "57c7ca55-f042-51c9-843a-7842bad43d20",
"identifiers": {
"doi": "10.1109/cdc49753.2023.10383674"
},
"type": "proceedings-article",
"title": "Distributed-Parameter Port-Hamiltonian Systems in Discrete-Time",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "University of Bologna,Department of Electrical, Electronic, and Information Engineering (DEI),Bologna,Italy"
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"abstract": "This paper presents a design framework of discrete-time regulators for linear, port-Hamiltonian, boundary control systems. The contribution is twofold. At first, a discrete-time approximation of the plant dynamics originally described by a linear PDE with boundary actuation is introduced. The discretisation is performed in time only. Thus, the “distributed nature” of the state is maintained. Such a system inherits the passivity of the original one and is well-posed, namely the “next” state always exists. The second result is the characterisation of discrete-time, linear controllers in the port-Hamiltonian form that render the closed-loop dynamics asymptotically stable. A numerical example illustrates the effectiveness of the proposed framework.",
"container_title": "2023 62nd IEEE Conference on Decision and Control (CDC)",
"publication_year": "2023",
"volume": "",
"issue": "",
"pages": "2931--2936",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2024-01-19",
"permalink": "distributed-parameter-port-hamiltonian-systems-in-discrete-time",
"references": [
{
"identifiers": {},
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},
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"title": "Data-Driven Bayesian Control of Port-Hamiltonian Systems",
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"given": "Thomas",
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"abstract": "Port-Hamiltonian theory is an established way to describe nonlinear physical systems widely used in various fields such as robotics, energy management, and mechanical engineering. This has led to considerable research interest in the control of Port-Hamiltonian systems, resulting in numerous model-based control techniques. However, the performance and stability of the closed-loop typically depend on the quality of the PH model, which is often difficult to obtain using first principles. We propose a Gaussian Processes (GP) based control approach for Port-Hamiltonian systems (GPC-PHS) by leveraging gathered data. The Bayesian characteristics of GPs enable the creation of a distribution encompassing all potential Hamiltonians instead of providing a singular point estimate. Using this uncertainty quantification, the proposed approach takes advantage of passivity-based robust control with interconnection and damping assignment to establish probabilistic stability guarantees.",
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"type": "proceedings-article",
"title": "Neural Energy Casimir Control for Port-Hamiltonian Systems",
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"given": "Liang",
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"name": "Ecole Polytechnique Fédérale de Lausanne (EPFL),Institute of Mechanical Engineering,Lausanne,Switzerland,CH-1015"
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"name": "Ecole Polytechnique Fédérale de Lausanne (EPFL),Institute of Mechanical Engineering,Lausanne,Switzerland,CH-1015"
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"abstract": "The energy Casimir method is an effective controller design approach to stabilize port-Hamiltonian systems at a desired equilibrium. However, its application relies on the availability of suitable Casimir and Lyapunov functions, whose computation are generally intractable. In this paper, we propose a neural network-based framework to learn these functions. We show how to achieve equilibrium assignment by adding suitable regularization terms in the training cost. We also propose a parameterization of Casimir functions for reducing the training complexity. Moreover, the distance between the equilibrium of the learned Lyapunov function and the desired equilibrium is analyzed, which indicates that for small suboptimality gaps, the distance decreases linearly with respect to the training loss. Our methods are backed up by simulations on a pendulum system.",
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"type": "proceedings-article",
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{
"given": "Yajie",
"family": "Bao",
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{
"name": "University of Georgia,School of Electrical & Computer Engineering,Athens,GA,USA,30602"
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"name": "University of Georgia,School of Electrical & Computer Engineering,Athens,GA,USA,30602"
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"affiliation": [
{
"name": "Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29634"
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"given": "Javad Mohammadpour",
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"name": "University of Georgia,School of Electrical & Computer Engineering,Athens,GA,USA,30602"
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"abstract": "This paper presents a framework for physics-informed energy-based neural network (NN) design to learn models of interconnected systems under the port-Hamiltonian (pH) formalism. In particular, this paper focuses on mechanical systems and incorporates the physical knowledge of Lagrangians into the neural networks to facilitate learning of equations of motion from the data. Moreover, the transformation from the Lagrangian mechanics to the Hamiltonian mechanics is incorporated into the NN architecture and learned from the data such that the learned model is compatible with the pH framework. Then, the structure of input-state-output pH models is imposed on the NN, which guarantees the dissipativity of the learned model. Furthermore, modeling interconnected systems is facilitated by the compositionality property of the pH systems. Additionally, the consistency between the Hamiltonian and Lagrangian is employed for the energy estimation to enable energy-based control. The proposed approach is shown to be computationally more efficient than the existing Lagrangian-based NN design approaches. Furthermore, the learned models with energy estimation are employed for energy-based model predictive control (MPC) design purpose. Experimental results using single (and double) inverted pendulum on carts show that the proposed learning-based approach can achieve an improved performance of model identification compared to the Lagrangian neural networks, accurate estimation of energies and strong control performance.",
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"authors": [
{
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"family": "Strehle",
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"affiliation": [
{
"name": "Karlsruhe Institute of Technology (KIT),Institute of Control Systems,Karlsruhe,Germany,76131"
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{
"given": "Juan E.",
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"name": "University of Groningen,Jan C. Willems Center for Systems and Control, ENTEG, Faculty of Science and Engineering,AG Groningen,the Netherlands,9747"
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"abstract": "In this paper, we use elements of graph theory and port-Hamiltonian systems to develop a modular dynamic model describing the hydraulic behavior of 4th generation district heating networks. In contrast with earlier generation networks with a single or few heat sources and pumps, newer installations will prominently feature distributed heat generation units, bringing about a number of challenges for the control and stable operation of these systems, e.g., flow reversals and interactions among pumps controllers, which may lead to severe oscillations. We focus thus on flexible system setups with an arbitrary number of distributed heat sources and end-users interconnected through a meshed, multi-layer distribution network of pipes. Moreover, differently from related works on the topic, we incorporate dynamic models for the pumps in the system and explicitly account for the presence of pressure holding units. By inferring suitable (power-preserving) interconnection ports, we provide a number of claims about the passivity properties of the overall, interconnected system, which proves to be highly beneficial in the design of decentralized control schemes and stability analyses.",
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"doi": "10.1109/cdc51059.2022.9993139"
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"type": "proceedings-article",
"title": "Exponential decay rate bound of one-dimensional distributed port-Hamiltonian systems with boundary dissipation",
"authors": [
{
"given": "Luis A.",
"family": "Mora",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "University of Waterloo,Department of Applied Mathematics,Waterloo,Canada,N2L 3G1"
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{
"given": "Kirsten",
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"name": "University of Waterloo,Department of Applied Mathematics,Waterloo,Canada,N2L 3G1"
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"abstract": "Distributed port-Hamiltonian systems with boundary damping and possible internal dissipation are considered. The multiplier method is used to show exponential decay Me−αt with an expression for M and α in terms of the system parameters. The exponential stability of port-Hamiltonian systems has been studied in the literature, but previous results did not provide an explicit bound on the decay rate. This result is illustrated by the boundary stabilization of a Timoshenko beam.",
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"pages": "409--414",
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"doi": "10.1109/cdc51059.2022.9993273"
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"type": "proceedings-article",
"title": "In-domain damping assignment of a Timoshenko-beam using state feedback boundary control",
"authors": [
{
"given": "Jeanne",
"family": "Redaud",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Université ParisSaclay, CNRS,Laboratoire Signaux et Systèmes, Centrale Supélec,Gif-sur-Yvette,France"
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{
"given": "Jean",
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"name": "Université ParisSaclay, CNRS,Laboratoire Signaux et Systèmes, Centrale Supélec,Gif-sur-Yvette,France"
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{
"given": "Yann Le",
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{
"name": "Université de Franche-Comte,FEMTO-ST Institute, AS2M,Besançon,France"
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"abstract": "In this paper, we combine the backstepping methodology and the port Hamiltonian framework to design a boundary full-state feedback controller that modifies the closed-loop in-domain damping of a Timoshenko beam. The beam under consideration is clamped in one end of its spatial domain and actuated at the opposite one. The port Hamiltonian formulation is used to derive several boundedly invertible transformations that map the original system into an exponentially stable closed-loop target system with additional in-domain damping terms. The proposed methodology allows the introduction of tuning parameters with clear physical interpretations for achievable closed-loop behavior. Simulations illustrate the performances of the controller.",
"container_title": "2022 IEEE 61st Conference on Decision and Control (CDC)",
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"pages": "5405--5410",
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{
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"type": "proceedings-article",
"title": "Sufficient Conditions for Global Boundedness of Solutions for Two Coupled Synchronverters",
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"name": "Brandenburgische Technische Universität Cottbus-Senftenberg,Control Systems and Network Technology Group"
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"name": "Inria, Univ. Lille, CNRS UMR 9189 – CRIStAL,Lille,France,F-59000"
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"name": "Brandenburgische Technische Universität Cottbus-Senftenberg and the Fraunhofer IEG, Fraunhofer Research Institution on Energy Infrastructures and Geothermal Systems IEG,Control Systems and Network Technology Group"
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"abstract": "This paper analyzes two synchronverters connected in parallel to a common capacitive-resistive load through resistive-inductive power lines. This system is conceptualized as a microgrid with two renewable energy sources controlled using the synchronverter algorithm. It is modeled as an interconnection of three port-Hamiltonian systems, and the dq-coordinates model is derived by averaging the frequencies. Applying the recent Leonov function theory, sufficient conditions to guarantee the global boundedness of the whole system’s trajectories are provided. This is necessary to reach the global synchronization of microgrids. Additionally, a numerical example illustrates the potential resonance behavior of the microgrid.",
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{
"id": "ebef0e67-d9d9-5d12-ae2a-a1de08bba68f",
"identifiers": {
"doi": "10.1109/cdc56724.2024.10886295"
},
"type": "proceedings-article",
"title": "Structure-preserving discretization of multidimensional linear port-Hamiltonian systems using FEM approaches",
"authors": [
{
"given": "Cristobal",
"family": "Ponce",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Universidad Tècnica Federico Santa María,Departamento de Electrónica,Valparaíso,Chile"
}
]
}
},
{
"given": "Yongxin",
"family": "Wu",
"literal": null,
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"affiliation": [
{
"name": "FEMTOST Institute,Ècole Nationale Supèrieure de Mècanique et des Microtechniques,Besançon,France"
}
]
}
},
{
"given": "Yann Le",
"family": "Gorrec",
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"sequence": "additional",
"affiliation": [
{
"name": "FEMTOST Institute,Ècole Nationale Supèrieure de Mècanique et des Microtechniques,Besançon,France"
}
]
}
},
{
"given": "Hector",
"family": "Ramirez",
"literal": null,
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"name": "Universidad Tècnica Federico Santa María,Departamento de Electrónica,Valparaíso,Chile"
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"abstract": "This study introduces a novel control oriented structure-preserving scheme for discretizing a class of multi-dimensional linear port-Hamiltonian systems, preserving their inherent structure while enabling the imposition of diverse combinations of boundary inputs, such as generalized velocities, displacements, and tractions. The proposed approach is grounded on the modified Linked Lagrange Multiplier method and the mixed Finite Element Method (FEM), where Dirichlet and Neumann boundary conditions are weakly enforced. Connections with other standard and mixed FEM approaches are also discussed. The proposed scheme is validated through comparisons with commercial software and simulations using a 2D elasticity model as a demonstrative example.",
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"issue": "",
"pages": "2676--2681",
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"references": [
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"abstract": "Systems of partial differential equations often admit different Hamiltonian representations, leading to different boundary variables that are either power or energy conjugate. It is shown that any linear infinite-dimensional Hamiltonian system can be transformed into one with constant symplectic matrix. Alternatively, any passive linear Hamiltonian system can be converted into one with constant energy storage matrix. The consideration of energy boundary variables points towards a new approach to control by interconnection. All this is illustrated on the example of the elastic rod.",
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"citation": "Bendimerad-Hohl, On implicit and explicit representations for 1D distributed port-Hamiltonian systems. Proc. 26th Int. Symposium on Mathematical Theory of Networks and Systems (MTNS2024)"
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"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. FnT in Systems and Control 1, 173–378 (2014)"
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"citation": "van der Schaft, A. & Maschke, B. Generalized port-Hamiltonian DAE systems. Systems & Control Letters 121, 31–37 (2018)"
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"title": "Neural Distributed Controllers with Port-Hamiltonian Structures",
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"given": "Muhammad",
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"name": "Institute of Mechanical Engineering,Ecole Polytechnique Fédérale de Lausanne (EPFL),Lausanne,Switzerland,CH-1015"
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"abstract": "Controlling large-scale cyber-physical systems necessitates optimal distributed policies, relying solely on local real-time data and limited communication with neighboring agents. However, finding optimal controllers remains challenging, even in seemingly simple scenarios. Parameterizing these policies using Neural Networks (NNs) can deliver good performance, but their sensitivity to small input changes can destabilize the closed-loop system. This paper addresses this issue for a network of nonlinear dissipative systems. Specifically, we leverage well-established port-Hamiltonian structures to characterize deep distributed control policies with closed-loop stability guarantees and a finite ${\\mathcal{L}}_{2}$ gain, regardless of specific NN parameters. This eliminates the need to constrain the parameters during optimization and enables training with standard methods like stochastic gradient descent. A numerical study on the consensus control of Kuramoto oscillators demonstrates the effectiveness of the proposed controllers.",
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"type": "proceedings-article",
"title": "A Novel Hamiltonian Approach for Modeling and Control of Quasi-Resonant Buck Converters*",
"authors": [
{
"given": "Agustín",
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"name": "Universidad Nacional Autónoma de México,Facultad de Ingeniería-UNAM,México"
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"abstract": "In this paper are presented a novel modeling approach and a passivity-based control scheme to solve the output voltage regulation control problem of a class of Quasiresonant Converters. Instead of consider classical order reduction arguments, the proposed full order model recovers the Port-Controlled Hamiltonian structure naturally exhibited by the converters. This feature leads to the possibility to propose the implementation of a passive PI control scheme which has been widely recognized to achieve high performances while proving in a formal way its stability properties. In addition, the controller structure is complemented by the inclusion of a static map to use both the frequency and the duty-cycle of the square input signal as control input, guaranteeing a Zero Current Switching operation mode which drastically improves the efficiency of the circuit. The usefulness of the proposed model and control are validated in a numerical setting.",
"container_title": "2024 IEEE 63rd Conference on Decision and Control (CDC)",
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"pages": "2760--2765",
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"title": "A passivity-based nonsingular terminal sliding mode controller for mechanical port-Hamiltonian systems",
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"abstract": "This paper proposes a novel nonsingular terminal sliding mode controller for mechanical systems based on passivity-based control. In the authors’ previous study, passivity-based sliding mode control is realized with kinetic potential energy shaping (KPES), which allows us to construct a wider class of energy-based Lyapunov function candidates. This paper extends KPES to deal with a special class of Lyapunov function candidates whose arguments depend nonlinearly on the momentum. Based on this extension, we propose a nonsingular terminal sliding mode controller that achieves finite time convergence of the closed-loop system with an energy-based Lyapunov function. Due to the passivity-based approach, the proposed controller guarantees Lyapunov stability of the closed-loop system even if the discontinuous control input is replaced with a continuous one to alleviate chattering. A numerical example demonstrates the effectiveness of the proposed method.",
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{
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{
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{
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{
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{
"identifiers": {
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{
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{
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"doi": "10.1109/cdc57313.2025.11312051"
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"type": "proceedings-article",
"title": "Robust Port-Hamiltonian Output-Tracking Control of Cascaded Systems",
"authors": [
{
"given": "Ian J.",
"family": "Willebeek-LeMair",
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"name": "Virginia Tech,Kevin T. Crofton Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061"
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"given": "Craig A.",
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"name": "Virginia Tech,Kevin T. Crofton Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061"
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"abstract": "This paper addresses the robust output-tracking problem for a class of cascaded nonlinear systems subject to matched and unmatched time-varying disturbances. The proposed control synthesis technique operates by transforming the cascaded open-loop system into a port-Hamiltonian closed-loop system via feedback and a change of coordinates. The closed-loop port-Hamiltonian structure is physically interpretable. To add robustness, sufficient conditions for input-to-state stability of the closed-loop system with respect to the disturbances are identified. The method is illustrated in an example.",
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"type": "proceedings-article",
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"authors": [
{
"given": "Cyrus",
"family": "Neary",
"literal": null,
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"affiliation": [
{
"name": "The University of British Columbia"
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{
"given": "Nathan",
"family": "Tsao",
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"affiliation": [
{
"name": "The University of Texas at Austin"
}
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"given": "Ufuk",
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"name": "The University of Texas at Austin"
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"abstract": "We develop compositional learning algorithms for coupled dynamical systems, with a particular focus on electrical networks. While deep learning has proven effective at modeling complex relationships from data, compositional couplings between system components typically introduce algebraic constraints on state variables, posing challenges to many existing data-driven approaches to modeling dynamical systems. Towards developing deep learning models for constrained dynamical systems, we introduce neural port-Hamiltonian differential algebraic equations (N-PHDAEs), which use neural networks to parameterize unknown terms in both the differential and algebraic components of a port-Hamiltonian DAE. To train these models, we propose an algorithm that uses automatic differentiation to perform index reduction, automatically transforming the neural DAE into an equivalent system of neural ordinary differential equations (N-ODEs), for which established model inference and backpropagation methods exist. Experiments simulating the dynamics of nonlinear circuits exemplify the benefits of our approach: the proposed N-PHDAE model achieves an order of magnitude improvement in prediction accuracy and constraint satisfaction when compared to a baseline N-ODE over long prediction time horizons. We also validate the compositional capabilities of our approach through experiments on a simulated DC microgrid: we train individual N-PHDAE models for separate grid components, before coupling them to accurately predict the behavior of larger-scale networks.",
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"issue": "",
"pages": "2097--2103",
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{
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{
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},
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"doi": "10.1109/cdc57313.2025.11312387"
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"type": "proceedings-article",
"title": "Controller design for port-Hamiltonian systems using FEM approximations",
"authors": [
{
"given": "Luis",
"family": "Mora",
"literal": null,
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"sequence": "first",
"affiliation": [
{
"name": "University of Waterloo,Department of Applied Mathematics,Waterloo,Canada,N2L 3G1"
}
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}
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"given": "Kirsten",
"family": "Morris",
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"name": "University of Waterloo,Department of Applied Mathematics,Waterloo,Canada,N2L 3G1"
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"abstract": "Controller design for distributed parameter systems is often accomplished using a lumped approximation. For a system that is exponentially stable, it is reasonable to expect the approximation to preserve this decay rate. Preservation of the decay rate is important for realistic simulations and also for reliable controller design. We show that a simple mixed finite element method conserves exponential stability for a class of boundary-damped systems that are port-Hamiltonian. The results are illustrated by LQ-optimal controller design for a wave equation with spatially varying physical parameters. The convergence and performance of the controllers obtained using this mixed finite element method are compared to those obtained using a standard finite-element method approximation, which does not preserve the stability margin.",
"container_title": "2025 IEEE 64th Conference on Decision and Control (CDC)",
"publication_year": "2025",
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"issue": "",
"pages": "139--144",
"publisher": "IEEE",
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"created_date": "2026-01-12",
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{
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{
"id": "98c5a7f1-481c-5600-bb7f-e32181af2c07",
"identifiers": {
"doi": "10.1109/cdc57313.2025.11312769"
},
"type": "proceedings-article",
"title": "Schrödinger and Euler-Bernoulli beam equations: structure-preserving discretization and equivalence as port-Hamiltonian systems",
"authors": [
{
"given": "Falak",
"family": "Zentout",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Université de Toulouse, CNRS, INSA, UPS,LAAS-CNRS,Toulouse,France"
}
]
}
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{
"given": "Jesus-Pablo",
"family": "Toledo-Zucco",
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"affiliation": [
{
"name": "Université de Toulouse, CNRS, INSA, UPS,LAAS-CNRS,Toulouse,France"
}
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{
"given": "Lucie",
"family": "Baudouin",
"literal": null,
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"affiliation": [
{
"name": "Université de Toulouse, CNRS, INSA, UPS,LAAS-CNRS,Toulouse,France"
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{
"given": "Denis",
"family": "Matignon",
"literal": null,
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"sequence": "additional",
"affiliation": [
{
"name": "Université de Toulouse,Fédération ENAC ISAE-SUPAERO ONERA,Toulouse,France"
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"abstract": "In this work, the classical equivalence between Schrödinger and Euler-Bernoulli beam partial differential equations (PDEs) as closed physical systems is extended to open physical systems using the port-Hamiltonian framework: first, a damped version of both these models is presented; second, the possible collocated inputs and outputs of the two models are parameterized in the most general way; and third, a structure-preserving discretization method for a class of one-dimensional Boundary-Controlled Port-Hamiltonian System (BC-PHS) with collocated boundary actuation and sensing is developed. Unlike the classical Partitioned Finite Element Method (PFEM) approach, the proposed discretization method makes it possible to obtain an ordinary differential equation regardless of the boundary conditions, preventing the emergence of a differential-algebraic equation in the case of mixed boundary conditions. This novelty, recently validated for the wave and Timoshenko beam equations, is now extended to PDEs with a second-order differential operator. On the Schrödinger and Euler-Bernoulli equations, it is shown that the proposed numerical scheme can deal with a large type of boundary inputs and outputs.",
"container_title": "2025 IEEE 64th Conference on Decision and Control (CDC)",
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"issue": "",
"pages": "133--138",
"publisher": "IEEE",
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"created_date": "2026-01-12",
"permalink": "schrodinger-and-euler-bernoulli-beam-equations-structure-preserving-discretization-and-equivalence-as-port-hamiltonian-systems",
"references": [
{
"identifiers": {
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{
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{
"identifiers": {
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{
"identifiers": {
"doi": "10.1016/j.ifacol.2025.08.074"
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{
"identifiers": {
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{
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{
"identifiers": {
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{
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{
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{
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{
"identifiers": {
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},
{
"identifiers": {
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{
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{
"identifiers": {
"doi": "10.1016/j.ifacol.2024.08.296"
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}
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{
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"identifiers": {
"doi": "10.1109/cdc57313.2025.11312938"
},
"type": "proceedings-article",
"title": "A Physics-Informed Neural Networks based method for Interconnection and Damping Assignment Passivity-Based Control",
"authors": [
{
"given": "Antonio",
"family": "Di Paola",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Sapienza University of Rome,Department of Computer, Control and Management Engineering \"Antonio Ruberti\",Rome,Italy,00185"
}
]
}
},
{
"given": "Arturo",
"family": "Maiani",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Sapienza University of Rome,Department of Computer, Control and Management Engineering \"Antonio Ruberti\",Rome,Italy,00185"
}
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{
"given": "Danilo",
"family": "Menegatti",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Sapienza University of Rome,Department of Computer, Control and Management Engineering \"Antonio Ruberti\",Rome,Italy,00185"
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"abstract": "The Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is an advanced nonlinear control strategy founded on the passivity and stability principles of port-Hamiltonian (PH) systems. This approach provides a powerful tool for controlling underactuated nonlinear systems by assigning them a desired energetic structure, establishing a new equilibrium point and achieving asymptotic stability through energy dissipation. The main challenge in this context lies in solving complex, nonlinear Partial Differential Equations (PDEs) that arise from the desired energy shaping process. This challenge is often mitigated by identifying classes of systems for which these equations are solvable. To address these limitations, a Physics-Informed Neural Networks (PINNs) based approach for solving the nonlinear PDE related to the kinetic energy and the definition of a customized loss function is proposed. Furthermore, it is shown that, assuming the kinetic energy PDE is solved with minimal error, stabilization can be achieved through appropriate tuning of the damping matrix and by adopting a simple structure for the potential energy function, eliminating the need to solve the potential energy PDE. The proposed methodology is verified through numerical simulations.",
"container_title": "2025 IEEE 64th Conference on Decision and Control (CDC)",
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"issue": "",
"pages": "2104--2109",
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"created_date": "2026-01-12",
"permalink": "a-physics-informed-neural-networks-based-method-for-interconnection-and-damping-assignment-passivity-based-control",
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{
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{
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},
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"title": "Structural Aspects of Electromagneto-Quasistatic Field Formulations of Darwin-Type Derived in the Port-Hamiltonian System Framework",
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"given": "Markus",
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"abstract": "Electromagneto-quasistatic (EMQS) field formulations allow to model resistive, capacitive, and inductive field effects while neglecting wave propagation. These field formulations are based on the Darwin-Ampére equation and yield different approximations of the full set of Maxwell's equations depending on the choice of additional equations. Various discrete EMQS formulations are analyzed using the port-Hamiltonian system framework. It is shown that only combinations of the Darwin-Ampere equation and the Maxwell continuity equation yield port-Hamiltonian differential-algebraic system of equations (pH-DAE) which implies their numerical stability, energy conservation related to a specific EMQS variant of the Hamiltonian and dissipativity results.",
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"abstract": "This paper presents an interconnection and damping assignment passivity-based controller (IDA-PBC) for Cascaded H-bridge Multilevel Inverter (CHMI). The main objective of this paper is to investigate the output voltage waveform regulation with low harmonic distortion. The circuit is modeled as a port-controlled Hamiltonian (PCH) system through average modeling. IDA-PBC is capable to regulate the voltage during various loading condition. The proposed control scheme is compared to the conventional double-loop PI controller and verified by detailed simulation analysis using MATLAB-Simulink software. Simulation results show that the proposed algorithm ensures fast response time and stability of the system during load change while maintaining low harmonic distortion.",
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{
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{
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"type": "proceedings-article",
"title": "Simultaneous Stabilization of a Collection of Port-controlled Hamiltonian Systems with Application to Affine Nonlinear Systems",
"authors": [
{
"given": "Yuzhen",
"family": "Wang",
"literal": null,
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{
"given": "Gang",
"family": "Feng",
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"given": "Daizhan",
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"abstract": "This paper investigates the simultaneous stabilization of a collection of nonlinear port-controlled Hamiltonian (PCH) systems, and proposes several new results on the design of simultaneous stabilization controllers for the PCH systems. Using the dissipative Hamiltonian structural properties, the collection of PCH systems are combined to generate an augmented PCH system, with which a simultaneous stabilization controller is then designed. Based on the zero-state detectability, a more general result is also obtained for the simultaneous stabilization of the PCH systems. Finally, using the results obtained in this paper, the simultaneous stabilization of a collection of affine nonlinear systems is also investigated, and some useful corollaries are presented.",
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"pages": "2081--2086",
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"citation": "Yuzhen Wang, Daizhan Cheng, Chunwen Li & You Ge. Dissipative hamiltonian realization and energy-based L/sub 2/-disturbance attenuation control of multimachine power systems. IEEE Trans. Automat. Contr. 48, 1428–1433 (2003)"
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"abstract": "This paper investigates the parallel simultaneous stabilization of two multi-input nonlinear port-controlled Hamiltonian (PCH) systems subject to actuator saturation, and proposes a method on the control design. At the same time, the paper establishes a new approach, called energy-based method, to the parallel simultaneous stabilization of two nonlinear affine systems with actuator saturation. Study of illustrative examples with simulations shows that the parallel simultaneous stabilization controller obtained in this paper works very well.",
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"citation": "Xi, Z. & Cheng, D. Passivity-based stabilization and H 8 control of the Hamiltonian control systems with dissipation and its applications to power systems. International Journal of Control 73, 1686–1691 (2000)"
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"citation": "Wang, Y., Feng, G. & Cheng, D. Simultaneous stabilization of a set of nonlinear port-controlled Hamiltonian systems. Automatica 43, 403–415 (2007)"
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"citation": "Wang, Y., Feng, G., Cheng, D. & Liu, Y. Adaptive L2 disturbance attenuation control of multi-machine power systems with SMES units. Automatica 42, 1121–1132 (2006)"
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"citation": "Stoorvogel, A. A., Saberi, A. & Weiland, S. On external semi-global stochastic stabilization of linear systems with input saturation. 2007 American Control Conference 5845–5850 (2007) doi:10.1109/acc.2007.4282930"
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"citation": "gomes, anti-windup design with guaranteed regions of stability: an lmi-based approach. IEEE Trans on Automatic Control (2005)"
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"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
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"doi": "10.1137/s0363012996312039"
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"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
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"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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"title": "Structure preserving reduction of port hamiltonian system using a modified LQG method",
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"abstract": "This paper proposes a controller reduction method for the port Hamiltonian system by using a modified LQG method. We first use the LQG method to design two passive type controllers which are equivalent to the control of port Hamiltonian system by interconnection. One of these LQG type method permit us to define a LQG balanced realization by computing its LQG Grammians. Then we use the effort-constraint method to achieve a reduced order port Hamiltonian system and design a reduced order passive type LQG controller. Finally, the method is illustrated on a mass-spring system by numerical simulations of the closed loop system with the full order passive LQG controller and with its reduced order controller.",
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"doi": "10.1007/3-540-76074-1"
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"citation": "Schaft, A. L2-Gain and Passivity Techniques in Nonlinear Control. Lecture Notes in Control and Information Sciences (Springer Berlin Heidelberg, 1996). doi:10.1007/3-540-76074-1"
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"doi": "10.1109/tac.2008.930192"
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"doi": "10.1109/tac.2011.2128650"
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"doi": "10.1016/j.sysconle.2011.12.008"
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"citation": "Polyuga, R. V. & van der Schaft, A. J. Effort- and flow-constraint reduction methods for structure preserving model reduction of port-Hamiltonian systems. Systems & Control Letters 61, 412–421 (2012)"
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{
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"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
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"doi": "10.1109/tac.1983.1103159"
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"type": "proceedings-article",
"title": "Stabilization analysis of time-varying Hamiltonian systems with input delay",
"authors": [
{
"given": "Weiwei",
"family": "Sun",
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"abstract": "The stabilization problem of time-varying port-controlled Hamiltonian (PCH) systems with input delay is addressed in this paper. Based on energy-shaping approach and using Lyapunov-Krasovskii (L-K) functional theorem, a feedback controller is proposed for the asymptotical stability of the closed-loop system in presence of delay. Like Casimir function is proposed to help shaping the Hamiltonian as a candidate of Lyapunov function in the extended systems. A numerical example is presented to illustrate the effectiveness of the results obtained in this paper.",
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"pages": "6124--6129",
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"doi": "10.1016/j.automatica.2003.07.005"
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"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
{
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"doi": "10.1080/00207170010010551"
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"citation": "Cheng, D. & Spurgeon, S. Stabilization of Hamiltonian systems with dissipation. International Journal of Control 74, 465–473 (2001)"
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{
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"citation": "vander, Schaft L2-Gain and Passivity Techniques in Nonlinear Control (1999)"
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"doi": "10.1007/s11768-013-2164-1"
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"citation": "Cai, L., He, Y. & Wu, M. Energy-shaping for Hamiltonian control systems with time delay. J. Control Theory Appl. 11, 436–441 (2013)"
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"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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{
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"doi": "10.1109/tac.2004.840477"
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"citation": "Transient stabilization of multimachine power systems with nontrivial transfer conductances. IEEE Trans. Automat. Contr. 50, 60–75 (2005)"
},
{
"identifiers": {
"doi": "10.1109/9.871758"
},
"citation": "Maschke, B., Ortega, R. & Van Der Schaft, A. J. Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation. IEEE Trans. Automat. Contr. 45, 1498–1502 (2000)"
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"doi": "10.1109/tcst.2006.879979"
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"citation": "Yuqian Guo & Daizhan Cheng. Stabilization of time-varying Hamiltonian systems. IEEE Trans. Contr. Syst. Technol. 14, 871–880 (2006)"
},
{
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"doi": "10.1016/j.amc.2011.04.044"
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"citation": "Sun, W. W. Stabilization analysis of time-delay Hamiltonian systems in the presence of saturation. Applied Mathematics and Computation 217, 9625–9634 (2011)"
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{
"identifiers": {
"doi": "10.1016/s0005-1098(02)00175-9"
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"citation": "Shen, T., Mei, S., Lu, Q., Hu, W. & Tamura, K. Adaptive nonlinear excitation control with L2 disturbance attenuation for power systems. Automatica 39, 81–89 (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2006.09.008"
},
"citation": "Wang, Y., Feng, G. & Cheng, D. Simultaneous stabilization of a set of nonlinear port-controlled Hamiltonian systems. Automatica 43, 403–415 (2007)"
},
{
"identifiers": {
"doi": "10.1080/00207720210167113"
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"citation": "Xi, Z. Adaptive stabilization of generalized Hamiltonian systems with dissipation and its applications to power systems. International Journal of Systems Science 33, 839–846 (2002)"
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"doi": "10.1109/chicc.2014.6896326"
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"type": "proceedings-article",
"title": "Robust current control of PMSM based on PCH and disturbance observer",
"authors": [
{
"given": "Ke",
"family": "Li",
"literal": null,
"source_fields": {
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{
"given": "Xudong",
"family": "Liu",
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{
"given": "Jing",
"family": "Sun",
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"given": "Chenghui",
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"abstract": "A new robust current control method of permanent magnet synchronous motor (PMSM) based on Port-controlled Hamiltonian (PCH) theory and disturbance observer is proposed in this paper. Firstly, the electromagnetic subsystem of PMSM is expressed as the PCH form. Then, the current tracking control is realized using the energy-shaping method of interconnection and damping assignment, and the stability in the equilibrium is proved. In addition, according to the parameter perturbation of the PMSM, a disturbance observer is designed to estimate the disturbance, which is used to the feedforward compensation control of the current loop. The simulation results show that the proposed control method has good current tracking performance and robustness.",
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"doi": "10.1016/j.mcm.2011.01.039"
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},
{
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{
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{
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{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
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},
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},
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{
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}
]
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"id": "26acfcf8-0202-5900-b8cf-0f121e1748bd",
"identifiers": {
"doi": "10.1109/chicc.2015.7259668"
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"type": "proceedings-article",
"title": "The relationship between overshoot and damping injection for the Port-Hamiltonian system subject to actuator saturation",
"authors": [
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"given": "Cai",
"family": "Liangcheng",
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"abstract": "This paper investigates the relationship between overshoot and damping injection for the Port-Hamiltonian (PH) system subject to actuator saturation (AS). According to the decay function, the relationship between overshoot and damping injection for the PH system subject to AS is clear, that is, if the damping injection of control law is larger, the overshoot of PH system subject to AS is smaller. Simulation results are given to show the correctness of presented relationship.",
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"pages": "383--388",
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{
"identifiers": {
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{
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{
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{
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{
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{
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{
"identifiers": {
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
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{
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},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {},
"citation": "zheng, Linear systems theory. (2002)"
}
]
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"doi": "10.1109/chicc.2015.7260337"
},
"type": "proceedings-article",
"title": "PMSM Hamiltonian energy shaping control with parameters self-tuning PID control",
"authors": [
{
"given": "Qiu",
"family": "Jun",
"literal": null,
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"affiliation": [
{
"name": "School of Information Science and Engineering, Ningbo Institute of Technology, Zhejiang University, Ningbo 315100"
}
]
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"name": "School of Information Science and Engineering, Ningbo Institute of Technology, Zhejiang University, Ningbo 315100"
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"name": "School of Information Science and Engineering, Ningbo Institute of Technology, Zhejiang University, Ningbo 315100"
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"abstract": "Aimed at permanent magnet synchronous motor (PMSM) servo control system control requirements, based on Hamiltonian feedback dissipative control strategy, this paper proposed a PID Hamiltonian parameters self-tuning method. Basing on the view of system energy balance point, via port-controlled dissipative Hamiltonian realization, this method designed a permanent magnet synchronous motor speed controller with parameters PID self-tuning to improve the control system speed tracking performance and simplify the system design process. Comparing with fixed gain control parameters, simulation results shown that the proposed method can ensure the system asymptotically stable performance, simplify system parameter setting and improve the system's transient response performance.",
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"issue": "",
"pages": "4506--4511",
"publisher": "IEEE",
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"id": "57a99dd7-0e3a-5530-a399-a8a04706813c",
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"doi": "10.1109/chicc.2016.7553121"
},
"type": "proceedings-article",
"title": "The Load Frequency Control in power systems via Port-Hamiltonian system and cascade system",
"authors": [
{
"given": "Liangcheng",
"family": "Cai",
"literal": null,
"source_fields": {
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}
},
{
"given": "Zhengyou",
"family": "He",
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"abstract": "This paper presents a new method to asymptotical stabilize the one-area Load Frequency Control system via the methods of Port-Hamiltonian system and cascade system. Due to the proposed method, the structural features of Load Frequency Control system have been deeply studied, that is, it can be represented as two cascade system. The asymptotical stability of one cascade system can be assured via the Integral Addition method for its structure is the same as the Port-Hamiltonian system, while the asymptotical stability of other cascade system can be assured by the Lyapunov function. Depending on the asymptotical stabilizations of the two cascade systems, a PID control law based on the views of PH system and cascade system is designed to asymptotical stabilize the Load Frequency Control system. Simulation results is given to show the effect of proposed method.",
"container_title": "2016 35th Chinese Control Conference (CCC)",
"publication_year": "2016",
"volume": "",
"issue": "",
"pages": "426--430",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2016-09-21",
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"references": [
{
"identifiers": {
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},
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},
{
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},
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},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
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},
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},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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{
"identifiers": {},
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{
"identifiers": {
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{
"identifiers": {
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},
{
"identifiers": {
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},
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{
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 53, 2527–2542 (2008)"
},
{
"identifiers": {
"doi": "10.1007/s11071-012-0693-7"
},
"citation": "Cai, L., He, Y. & Wu, M. On the effects of desired damping matrix and desired Hamiltonian function in the matching equation for Port–Hamiltonian systems. Nonlinear Dyn 72, 91–99 (2012)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2009.04.006"
},
"citation": "Donaire, A. & Junco, S. On the addition of integral action to port-controlled Hamiltonian systems. Automatica 45, 1910–1916 (2009)"
},
{
"identifiers": {
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},
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]
},
{
"id": "4e5b1dcf-c93f-5e28-a9d4-1da0f0ebe9c4",
"identifiers": {
"doi": "10.1109/chilecon.2017.8229629"
},
"type": "proceedings-article",
"title": "Sliding mode controller applied to a levitated magnetic suspension system. A didactic view",
"authors": [
{
"given": "Carlos",
"family": "Muñoz",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Departamento de Ingeniería Eléctrica Universidad de La Frontera Temuco, Chile"
}
]
}
},
{
"given": "Mario",
"family": "Fernandez",
"literal": null,
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"affiliation": [
{
"name": "Departamento de Ingeniería Eléctrica Universidad Talca Curicó, Chile"
}
]
}
}
],
"abstract": "Magnetic levitator is a challenging problem to address complex control systems in control teaching. In this paper the magnetic levitator model is synthetized using a Port Hamiltonian approach and with this model, an observed state gain feedback is tuned with a LQG technique. Then a SMC that used the observed state gain feedback in the sliding zone is developed, establishing the requirements for feedback stabilization. Results show that the system is able to stabilize the levitation sphere in a wider zone than the LQG control.",
"container_title": "2017 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)",
"publication_year": "2017",
"volume": "",
"issue": "",
"pages": "1--6",
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"created_date": "2018-01-02",
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"doi": "10.1109/chilecon66915.2025.11475999"
},
"type": "proceedings-article",
"title": "Discrete-Time Approximations for Port-Hamiltonian Systems and Controllers Using Collocation Methods",
"authors": [
{
"given": "Emilio José",
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"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Universidad Técnica Federico Santa María,Departamento de Electrónica,Valparaíso,Chile"
}
]
}
},
{
"given": "Maximilian",
"family": "Mogler",
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"affiliation": [
{
"name": "Univ. Grenoble Alpes,LCIS,Valence,France"
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}
},
{
"given": "Laurent",
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{
"name": "Univ. Grenoble Alpes,LCIS,Valence,France"
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},
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
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"affiliation": [
{
"name": "University of Bologna,DEI,Bologna,Italy"
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]
}
},
{
"given": "Yann Le",
"family": "Gorrec",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "FEMTO-ST, SUPMICROTECH ENSMM,Besançon,France"
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]
}
},
{
"given": "Hector",
"family": "Ramirez",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Universidad Técnica Federico Santa María,Departamento de Electrónica,Valparaíso,Chile"
}
]
}
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],
"abstract": "This work proposes a time-discretization for nonlinear port-Hamiltonian systems and their controllers using Collocation Methods. First, we provide an overview of port-Hamiltonian systems and present Collocation Methods, detailing their application in deriving discrete-time representations. Next, we propose a time-discretization for controllers using a target system approach. The effectiveness of the proposed methodologies is illustrated through numerical example on a nonlinear port-Hamiltonian system presented by a piezoelectric actuator.",
"container_title": "2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)",
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"volume": "",
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"pages": "1--6",
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"keywords": [],
"created_date": "2026-04-20",
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"references": [
{
"identifiers": {
"doi": "10.1016/s1474-6670(17)52308-3"
},
"citation": "Maschke BM, van der Schaft AJ (1992) Port-Controlled Hamiltonian Systems: Modelling Origins and Systemtheoretic Properties. IFAC Proceedings Volumes 25(13):359–365. https://doi.org/10.1016/s1474-6670(17)52308-"
},
{
"identifiers": {
"doi": "10.1007/978-3-642-03196-0"
},
"citation": "Duindam V, Macchelli A, Stramigioli S, Bruyninckx H (2009) Modeling and Control of Complex Physical Systems. Springer Berlin Heidelber"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2019.104530"
},
"citation": "Kotyczka P, Lefèvre L (2019) Discrete-time port-Hamiltonian systems: A definition based on symplectic integration. Systems & Control Letters 133:104530. https://doi.org/10.1016/j.sysconle.2019.10453"
},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2019.12.006"
},
"citation": "Moreschini A, Monaco S, Normand-Cyrot D (2019) Gradient and Hamiltonian dynamics under sampling. IFAC-PapersOnLine 52(16):472–477. https://doi.org/10.1016/j.ifacol.2019.12.00"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega R, van der Schaft A, Maschke B, Escobar G (2002) Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38(4):585–596. https://doi.org/10.1016/s0005-1098(01)00278-"
},
{
"identifiers": {
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},
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"doi": "10.1109/cieec58067.2023.10166073"
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"type": "proceedings-article",
"title": "Research on Control Strategy of Hybrid Energy Source System Based on Interconnection and Damping Assignment",
"authors": [
{
"given": "Dewei",
"family": "Tang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Anhui University,National Engineering Laboratory of Energy-Saving Motor & Control Technology,Hefei,China"
}
]
}
},
{
"given": "Wei",
"family": "Li",
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"affiliation": [
{
"name": "Anhui University,National Engineering Laboratory of Energy-Saving Motor & Control Technology,Hefei,China"
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}
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{
"given": "Shichuan",
"family": "Ding",
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"affiliation": [
{
"name": "School of Electrical Engineering and Automation, Anhui University,Hefei,China"
}
]
}
},
{
"given": "Lu",
"family": "Liu",
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"affiliation": [
{
"name": "School of Electrical Engineering and Automation, Anhui University,Hefei,China"
}
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],
"abstract": "In this paper, aiming at the nonlinear control problem of the hybrid energy source system, encompassing both the battery and the supercapacitor, an Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) strategy is proposed. Combined with modes charging and discharging modes, a port-controlled Hamiltonian mathematical model of the hybrid energy source system is established. By configuring the interconnection and damping matrices, an interconnection and damping assignment controller, incorporating the rule-based energy management strategy, is designed. When the load power demand changes, the designed controller can maintain the stability of the DC bus voltage and reasonably distribute the power between the battery and the supercapacitor. Experimental results verify the effectiveness of the proposed strategy.",
"container_title": "2023 IEEE 6th International Electrical and Energy Conference (CIEEC)",
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"volume": "",
"issue": "",
"pages": "704--709",
"publisher": "IEEE",
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{
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},
{
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"identifiers": {
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},
"type": "proceedings-article",
"title": "DC Link Clamp Type High Step-Up Ratio Y-Source Inverter Grid-Tied Energy-Shaping Control",
"authors": [
{
"given": "Jianwei",
"family": "Ma",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Northeast Electric Power University,Department of Electrical Engineering,Jinlin,China"
}
]
}
},
{
"given": "Qiang",
"family": "Li",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "State grid Sichuan power, Company Mianyang power supply company,Mianyang,China"
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}
},
{
"given": "Wei",
"family": "Zhang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Northeast Electric Power University,Department of Electrical Engineering,Jinlin,China"
}
]
}
},
{
"given": "Hongpeng",
"family": "Liu",
"literal": null,
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{
"name": "Northeast Electric Power University,Department of Electrical Engineering,Jinlin,China"
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],
"abstract": "Traditional grid-connected controllers often have complex structures, numerous control parameters, and limited stability, making them less suitable for practical applications. Therefore, it is crucial to design grid-connected controllers in a reasonable manner to enhance the grid-connected disturbance suppression capabilities of inverters. This paper begins by analyzing the pros and cons of traditional control methods, specifically focusing on the high-boost ratio Y-source inverter (DLVC-YSI-I) topology with DC link voltage clamping. Subsequently, the port-controlled Hamiltonian (PCH) model and energy-shaping control (ESC) method are employed to address the control problem of the improved Y-source grid-connected inverter from an energy perspective. By constructing a state average model based on the proposed topology's operating principle and converting the improved Y-source grid-connected inverter model into a PCH model using the state average method, an inverter grid-connected controller is designed based on ES theory. Finally, the proposed algorithm is validated on an experimental platform consisting of an impedance source inverter grid-connected system.",
"container_title": "2024 IEEE 7th International Electrical and Energy Conference (CIEEC)",
"publication_year": "2024",
"volume": "",
"issue": "",
"pages": "178--183",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2024-07-15",
"permalink": "dc-link-clamp-type-high-step-up-ratio-y-source-inverter-grid-tied-energy-shaping-control",
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{
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"authors": [
{
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"family": "Touron",
"literal": null,
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{
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{
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{
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"family": "Dieulot",
"literal": null,
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],
"abstract": "This paper presents a Linear Fractional Representation of a Port Hamiltonian System for which uncertainties are concentrated on the Hamiltonian parameters. A basic block-diagram is provided and an illustration is shown on a hand-held cutting tool viewed as an effort multiplier.",
"container_title": "2013 International Conference on Control, Decision and Information Technologies (CoDIT)",
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"publisher": "IEEE",
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{
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"identifiers": {
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"type": "proceedings-article",
"title": "On The Shifted Passivity of Continuous Bioreactors",
"authors": [
{
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"family": "Dieulot",
"literal": null,
"source_fields": {
"sequence": "first",
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{
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{
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"abstract": "This paper addresses the passivity of continuous bioreactors around their non-zero equilibrium point by representing the system into a port-Hamiltonian system. In case of continuous bioreactors, the steady-state values of substrate(s) and biomass are not zero, thus passivity at shifted equilibrium point becomes interesting. A general representation of bioreactors is written in a form that allows to derive very simple conditions to prove their shifted passivity, using a quadratic energy function. In addition to that, the case of enforcing shifted passivity using feedback proportional control for general representation of bioreactors is also considered. Practical conditions are given for general single microbial reactions, and an example of anaerobic digestion of volatile fatty acids illustrates the multiple microbial reactions case.",
"container_title": "2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)",
"publication_year": "2024",
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"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2024-10-18",
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{
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"title": "IDA-PBC-Based Control Design for a PWM Current-Source Converter Supplying Sinusoidal Current to a Single-Phase Microgrid",
"authors": [
{
"given": "Angèlica Mercedes",
"family": "Nivia-Vargas",
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"name": "Universidad Distrital Francisco Josè de Caldas,Doctorado en Ingeniería,Bogotá,Colombia,110231"
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"given": "Oscar Danilo",
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"name": "Universidad Distrital Francisco Josè de Caldas,Facultad de Ingeniería,Bogotá,Colombia,110231"
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"name": "Universidad Tecnológica de Pereira,Department of Electrical Engineering,Pereira,Colombia,660003"
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"name": "University of Talca Campus Curicó,Department of Electrical Engineering,Curicó,Chile"
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"given": "Jesús C.",
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"name": "University of Jaèn, Campus Lagunillas s/n Edificio A3,Department of Electrical Engineering,Jaèn,Spain,23071"
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"abstract": "The present paper addresses the challenge of sinusoidal current injection into single-phase microgrid loads by controlling a pulse-width modulated current-source converter (PWM-CSC). The proposed control strategy is based on the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) framework, which exploits the system’s passivity properties to design a controller that ensures global stability while shaping the closed-loop energy function. The converter is modeled using a port-Hamiltonian formulation, enabling the systematic development of the IDA-PBC scheme. This approach effectively transforms the trajectory tracking problem into a regulation problem, ensuring asymptotic stability and guaranteeing a wellposed energy function in the closed-loop system. Numerical simulations validate the proposed strategy, demonstrating that the sinusoidal current supplied by the PWM-CSC maintains a tracking error below $2 \\%$ and harmonic distortion levels below $3.5 \\%$ for both voltage and current waveforms. All simulations were performed in MATLAB/Simulink using the SimPowerSystems toolbox, version 2024b.",
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"pages": "1--7",
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"doi": "10.1109/compel.2017.8013329"
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"type": "proceedings-article",
"title": "PI passivity-based control of modular multilevel converters for multi-terminal HVDC systems",
"authors": [
{
"given": "Gilbert",
"family": "Bergna-Diaz",
"literal": null,
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"given": "Daniele",
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{
"given": "Santiago",
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"given": "Elisabetta",
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"abstract": "In this work, a decentralized PI passivity-based controller (PI-PBC) is applied to the Modular Multilevel Converters (MMCs) to ensure global asymptotic stability of a multiterminal MT-HVDC system. Since continuous MMC state-space models naturally have time-periodic steady-state solutions, a first step towards the derivation of the controller is the formulation of an equivalent model characterized by constant steady-state solutions, obtained via a multi-frequency orthogonal coordinates transformation. For the design of the controller, the overall system is represented in an appropriate port-Hamiltonian formulation, which allows the derivation of the stabilizing control law using passivity-based arguments. The results are validated on a three-terminal simulation benchmark.",
"container_title": "2017 IEEE 18th Workshop on Control and Modeling for Power Electronics (COMPEL)",
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"pages": "1--8",
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"references": [
{
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"doi": "10.1109/compel57166.2025.11121236"
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"type": "proceedings-article",
"title": "Energy-based Neural Network Controllers for DC-DC Converters",
"authors": [
{
"given": "Kamakshi",
"family": "Tatkare",
"literal": null,
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"affiliation": [
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"name": "The University of Texas,Chandra Family Department of Electrical and Computer Engineering,Austin,TX,78712"
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"given": "Brian",
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"name": "The University of Texas,Chandra Family Department of Electrical and Computer Engineering,Austin,TX,78712"
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"abstract": "In this paper, our objective is to use notions of system energy to formulate closed-loop dc-dc converter controls that are nonlinear and satisfy passivity properties that guarantee stability. Port-Hamiltonian models are a particular form of models which can be used to describe the total energy in a converter, much like a Lyapunov function. In our approach, we first formulate a port-Hamiltonian model that represents the desired closed-loop dynamics we seek. However, the solution to this model is generally quite difficult for even the simplest of converters. To bypass this challenge, we offer a framework where a neural-network-based controller is trained to estimate the solution to this design problem. Essentially, our objective is to ensure that the energy dynamics of the dc-dc converter with a neural network as a controller closely match that of the target port-Hamiltonian model. This method circumvents the mathematical difficulties encountered when attempting to solve the closed-loop port-Hamiltonian model directly and gives a generalized framework. Our paper illustrates this approach and its versatile application towards boost, buck, buck-boost, and Ćuk converters.",
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"abstract": "This document presents a port-Hamiltonian model of a pumped-hydro storage system, using Photo Voltaic energy as the primary source. Matlab simulation results show that the model is functional under ideal conditions of constant solar radiation. It also graphically demonstrate the relationship between input solar power and the accumulation of energy at the upper reservoir. This work is a fundamental step towards a tool for the analysis and design of optimized and fully automated system.",
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"abstract": "This paper presents a control scheme for the secondary level voltage control in DC Microgrids consisting of parallel operated converters and Constant Power Loads (CPLs). CPLs might cause a destabilizing effect on the DC bus voltage. The proposed control law uses the Port-Hamiltonian modelling framework applied to the Line Regulating Converters (LRCs) and filters and compensates the deviations of the voltage from its nominal value. This controller uses the concept of energy shaping and passivity; the idea behind this concept is to shape the energy in such way that the resulting closed loop system is Port-Hamiltonian. It is shown that the resulting Port-Controlled Hamiltonian (PCH) systems can be interconnected and large signal stability for all possible operating points can be guaranteed. Simulation results on a Microgrid test system display the good performance and stability of the proposed control scheme.",
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"doi": "10.1109/cvci51460.2020.9338442"
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"type": "proceedings-article",
"title": "Collaborative Control with Nonlinear Observer for the Stability of Electric Vehicles",
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"given": "Yan",
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"abstract": "This paper designs a novel collaborative control approach, including the longitudinal and lateral motion control, to guarantee the vehicle stability by the estimated vehicle states of electric vehicles. A nonlinear observer is developed to observe the lateral velocity and tire-road friction coefficient by a Dugoff's tire model. Moreover, a Lyapunov-based method is utilized to prove that the estimated errors converge to zero. The collaborative control is converted into a tracking problem by establishing a reference model. According to the estimated vehicle states and reference model, a passivity-based control strategy based on the port-Hamiltonian model is adopted to follow the referenced vehicle states and ensure the stable planar motions, and the asymptotic stability of the proposed controller is proved. In addition, a wheel torque distribution considering the transfer of vertical loads is designed to maximize the utilization of tire adhesive forces. Finally, simulation cases demonstrate the effectiveness of the designed nonlinear observer and controller.",
"container_title": "2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)",
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"issue": "",
"pages": "771--776",
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{
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{
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"type": "proceedings-article",
"title": "Stabilization of Port-Controlled Hamiltonian systems subject to exogenous disturbances via compensation control approach",
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"given": "Baozeng",
"family": "Fu",
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"name": "School of Automation, Qingdao University,Shandong Key Laboratory of Industrial Control Technology,Qingdao,China,266071"
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"name": "School of Automation, Qingdao University,Shandong Key Laboratory of Industrial Control Technology,Qingdao,China,266071"
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"abstract": "The stabilization of Port-Controlled Hamiltonian (PCH) systems under exogenous disturbances by designing a compensation control approach is studied in the paper. Firstly, a baseline feedback control is proposed utilizing the damping injection method. To estimate disturbances, then a novel exogenous disturbance observer is constructed, based on which a feedforward compensation control is developed. Next, a composite control law is proposed based on the feedforward compensation and the feedback control. For the Hamiltonian system, an asymptotic stability analysis is followed finally. The feasibility of the compensation control strategy is revealed by a numerical simulation example.",
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"type": "proceedings-article",
"title": "Dual observer-based compensator design for linear port-Hamiltonian systems",
"authors": [
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"given": "Paul",
"family": "Kotyczka",
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"given": null,
"family": "Mei Wang",
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"abstract": "We show how dual observer-based compensator design can be adapted to linear, finite-dimensional systems in port-Hamiltonian (pH) form. Based on the recent formulation of Luenberger's approach in a two-degrees-of-freedom controller structure, we consider the dynamics of both plant and dynamic controller in linear pH form. The main differences compared to the standard linear case are (i) the expression of the invariant manifold in terms of co-energy variables and (ii) the stability proof via the definiteness of energy and dissipation matrices. To this end, the formulation of well-known LMI conditions for the stabilization of linear pH systems is adapted to the considered (dual) problem. The approach marks a preliminary step for the work on the nonlinear pH setting. Simulation and experimental results with a magnetic levitation device using only distance feedback illustrate the applicability of the approach.",
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"pages": "2908--2913",
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{
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"title": "Robust regulation for first-order port-hamiltonian systems",
"authors": [
{
"given": "Jukka-Pekka",
"family": "Humaloja",
"literal": null,
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{
"given": "Lassi",
"family": "Paunonen",
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"abstract": "We present a method for obtaining robust control over a first-order port-Hamiltonian system. The presented method is especially designed for controlling impedance energy-preserving port-Hamiltonian systems. By combining the stabilization results of port-Hamiltonian systems and the theory of robust output regulation for exponentially stable systems, we design a simple finite-dimensional controller for an unstable system that together with output feedback achieves robust output regulation. The method is demonstrated on an example where we implement a robust regulating controller for the one-dimensional wave equation with boundary control and observation.",
"container_title": "2016 European Control Conference (ECC)",
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"volume": "",
"issue": "",
"pages": "2203--2208",
"publisher": "IEEE",
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{
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{
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{
"id": "5fd66de2-3ee6-5a9b-97d5-25102b460a1e",
"identifiers": {
"doi": "10.1109/ecce-asia49820.2021.9479070"
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"type": "proceedings-article",
"title": "Port-Hamiltonian Formulation of Adaptive Hamiltonian PID controller to Solve Constant Power Load Stability Issue in DC Microgrid: Control of a Fuel Cell Converter",
"authors": [
{
"given": "Phatiphat",
"family": "Thounthong",
"literal": null,
"source_fields": {
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"abstract": "Speedy progresses in dc microgrid networks and hydrogen energy have expanded the applications of dc/dc boost power circuits in dc voltage stabilization. It is clear that the cascade interconnection of power electronic converters may introduce large oscillation or risk instability due to the fact that power electronic circuits performing as loads have a constant power load (CPL) actions. This article presents the dc link voltage regulation of a boost converter supplied by a fuel cell/reformer engine feeding a CPL. The construction of the feedback controller is based on the new Hamiltonian function in sense of a proportional, integral and derivative terms (PID). It is certified through the design that the desired fixed point is (locally) asymptotically stable. The technique is authenticated via digital simulations and experimental test bench of a 2.5 kW fuel cell/reformer system.",
"container_title": "2021 IEEE 12th Energy Conversion Congress & Exposition - Asia (ECCE-Asia)",
"publication_year": "2021",
"volume": "",
"issue": "",
"pages": "1864--1869",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2021-07-13",
"permalink": "port-hamiltonian-formulation-of-adaptive-hamiltonian-pid-controller-to-solve-constant-power-load-stability-issue-in-dc-microgrid-control-of-a-fuel-cell-converter",
"references": [
{
"identifiers": {
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},
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{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tia.2019.2938149"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tcsii.2019.2893842"
},
"citation": "Montoya, O. D., Gil-Gonzalez, W. & Garces, A. Control for EESS in Three-Phase Microgrids Under Time-Domain Reference Frame via PBC Theory. IEEE Transactions on Circuits and Systems II: Express Briefs vol. 66 2007–2011 (2019)"
},
{
"identifiers": {
"doi": "10.1016/j.jpowsour.2020.228167"
},
"citation": "Soumeur, M. A. et al. Comparative study of energy management strategies for hybrid proton exchange membrane fuel cell four wheel drive electric vehicle. Journal of Power Sources vol. 462 228167 (2020)"
},
{
"identifiers": {
"doi": "10.1109/tste.2020.2992535"
},
"citation": "Azimi, S. M. & Lotfifard, S. A Nonlinear Controller Design for Power Conversion Units in Islanded Micro-grids using Interconnection and Damping Assignment Tracking Control. IEEE Transactions on Sustainable Energy vol. 12 284–292 (2021)"
},
{
"identifiers": {
"doi": "10.1109/tvt.2019.2950558"
},
"citation": "Macias Fernandez, A., Kandidayeni, M., Boulon, L. & Chaoui, H. An Adaptive State Machine Based Energy Management Strategy for a Multi-Stack Fuel Cell Hybrid Electric Vehicle. IEEE Transactions on Vehicular Technology vol. 69 220–234 (2020)"
}
]
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"title": "Passivity-Based Grid Forming Control for DERs",
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{
"given": "Yonghao",
"family": "Gui",
"literal": null,
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"name": "Oak Ridge National Laboratory,Electrification and Energy Infrastructures Division,Oak Ridge,TN,US"
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"given": "Sunil",
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"name": "Oak Ridge National Laboratory,Electrification and Energy Infrastructures Division,Oak Ridge,TN,US"
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"given": "Yaosuo",
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"name": "Oak Ridge National Laboratory,Electrification and Energy Infrastructures Division,Oak Ridge,TN,US"
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"abstract": "This paper uses a passivity-based control method for grid-forming control-based distributed energy resources (DERs). A port-controlled Hamiltonian form is used to guarantee the passivity property. In addition, different passivity-based control methods are applied to different DERs in a microgrid, where an energy storage system, wind turbine, and solar-based DERs are considered. Since all the operating DERs can guarantee the passivity property, the stable operation of the microgrid is guaranteed. The simulation results demonstrate that the proposed control method effectively manages the microgrid, ensuring stable operation.",
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"pages": "3673--3677",
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{
"identifiers": {
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{
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{
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},
{
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{
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},
{
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},
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{
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{
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{
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{
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{
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]
},
{
"id": "622461ef-5e03-50bb-8489-3f91908e1f1e",
"identifiers": {
"doi": "10.1109/ecti-con49241.2020.9158247"
},
"type": "proceedings-article",
"title": "Study of Three Phase VSC Models for Controller Design by Using Port-Controlled Hamiltonian",
"authors": [
{
"given": "Suppachai",
"family": "Roengriang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Witthawas",
"family": "Pongyart",
"literal": null,
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}
},
{
"given": "Pisit",
"family": "Vanichchanunt",
"literal": null,
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],
"abstract": "The Port-Based system modeling is applied and becomes an attractive topic in the field of control engineering. Due to its energy based concept, it can model physical systems in an effective and systematic manner, e.g. Port-Controlled Hamiltonian approach. However different model structures can be obtained, if the system contains switching devices, e.g. voltage source converter. This paper presents two approaches for converter modeling and their effect on the system behavior, when the controller is designed by the IDA-PBC concept. The simulation results show that the responses of the closed loop system hardly depend on the structure of converter model, even the obtained controllers are different. Especially when the systems operate around the operating point.",
"container_title": "2020 17th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON)",
"publication_year": "2020",
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"issue": "",
"pages": "656--659",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2020-08-04",
"permalink": "study-of-three-phase-vsc-models-for-controller-design-by-using-port-controlled-hamiltonian",
"references": [
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/63.668114"
},
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},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(98)00196-4"
},
"citation": "Escobar, G., van der Schaft, A. J. & Ortega, R. A Hamiltonian viewpoint in the modeling of switching power converters. Automatica 35, 445–452 (1999)"
},
{
"identifiers": {
"doi": "10.1016/j.ijepes.2014.03.033"
},
"citation": "Serra, F. M., De Angelo, C. H. & Forchetti, D. G. Interconnection and damping assignment control of a three-phase front end converter. International Journal of Electrical Power & Energy Systems 60, 317–324 (2014)"
},
{
"identifiers": {
"doi": "10.1109/tla.2013.6502819"
},
"citation": "Serra, F., De Angelo, C. & Forchetti, D. Passivity Based Control of a Three-Phase Front End Converter. IEEE Latin Am. Trans. 11, 293–299 (2013)"
},
{
"identifiers": {
"doi": "10.1109/cdc.1999.830260"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Energy-shaping of port-controlled Hamiltonian systems by interconnection. Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) vol. 2 1646–1651"
},
{
"identifiers": {
"doi": "10.1561/9781601987877"
},
"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. (2014) doi:10.1561/9781601987877"
}
]
},
{
"id": "3a52be45-4736-57fb-9050-70f68068ae3b",
"identifiers": {
"doi": "10.1109/ecti-con58255.2023.10153144"
},
"type": "proceedings-article",
"title": "A port-Hamiltonian Modelling and Controller Design Approach for Cascode Buck-Boost Converter",
"authors": [
{
"given": "Wachiravit",
"family": "Buaket",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Electrical and Computer Engineering, Faculty of Engineering,Bangkok,Thailand"
}
]
}
},
{
"given": "Witthawas",
"family": "Pongyart",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Electrical and Computer Engineering, Faculty of Engineering,Bangkok,Thailand"
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]
}
}
],
"abstract": "By using cascode technique, a buck boost converter can provide higher step-up voltage than the conventional does at the same duty ratio. Because of having non-linear variable structure and a zero on the right half plane, the cascode buck-boost becomes a challenging topic for control engineering. In this paper, an energy-based model of the converter is created and a controller design method using port-Hamiltonian is proposed. The developed controller is suitable for the non-linear system with variable structure, since the simulation results show the remarkable achievement of the proposed controller in command tracking and disturbance rejection. In addition, it can effectively treat the non-minimum phases issue of the converter.",
"container_title": "2023 20th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON)",
"publication_year": "2023",
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"issue": "",
"pages": "1--4",
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"keywords": [],
"created_date": "2023-06-20",
"permalink": "a-port-hamiltonian-modelling-and-controller-design-approach-for-cascode-buck-boost-converter",
"references": [
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(98)00196-4"
},
"citation": "Escobar, G., van der Schaft, A. J. & Ortega, R. A Hamiltonian viewpoint in the modeling of switching power converters. Automatica 35, 445–452 (1999)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {
"doi": "10.1109/ieecon53204.2022.9741575"
},
"citation": "Buaket, W. & Pongyart, W. A port-Hamiltonian Approach in Current Controller Design for Buck Boost Converter. 2022 International Electrical Engineering Congress (iEECON) 1–4 (2022) doi:10.1109/ieecon53204.2022.9741575"
},
{
"identifiers": {
"doi": "10.1109/ieecon53204.2022.9741689"
},
"citation": "Thongrailuck, W. & Pongyart, W. Application of port-Hamiltonian Approach in Controller Design for Buck Boost Converter. 2022 International Electrical Engineering Congress (iEECON) 1–4 (2022) doi:10.1109/ieecon53204.2022.9741689"
},
{
"identifiers": {
"doi": "10.1561/9781601987877"
},
"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. (2014) doi:10.1561/9781601987877"
},
{
"identifiers": {
"doi": "10.1109/ecti-con49241.2020.9158247"
},
"citation": "Roengriang, S., Pongyart, W. & Vanichchanunt, P. Study of Three Phase VSC Models for Controller Design by Using Port-Controlled Hamiltonian. 2020 17th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON) 656–659 (2020) doi:10.1109/ecti-con49241.2020.9158247"
},
{
"identifiers": {
"doi": "10.1109/ipec.2010.5543840"
},
"citation": "Shu, L.-J., Liang, T.-J., Yang, L.-S. & Lin, R.-L. Transformerless high step-up DC-DC converter using cascode technique. The 2010 International Power Electronics Conference - ECCE ASIA - 63–67 (2010) doi:10.1109/ipec.2010.5543840"
},
{
"identifiers": {
"doi": "10.1109/iciiecs.2017.8275838"
},
"citation": "Kumar, S. & Thakura, P. R. Closed loop PI control of DC-DC Cascode Buck-Boost converter. 2017 International Conference on Innovations in Information, Embedded and Communication Systems (ICIIECS) 1–6 (2017) doi:10.1109/iciiecs.2017.8275838"
}
]
},
{
"id": "37446516-2151-5aaa-ac77-57621c78b070",
"identifiers": {
"doi": "10.1109/ecti-con58255.2023.10153195"
},
"type": "proceedings-article",
"title": "Implementation of Energy based Controller for Buck Boost Converter using FPAA",
"authors": [
{
"given": "Walarcheth",
"family": "Thongrailuck",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Electrical and Computer Engineering,Faculty of Engineering,Bangkok,Thailand"
}
]
}
},
{
"given": "Witthawas",
"family": "Pongyart",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Electrical and Computer Engineering,Faculty of Engineering,Bangkok,Thailand"
}
]
}
}
],
"abstract": "This paper presents an application of Field Programmable Analog Array (FPAA) in the implementation of an energy-based controller to control the voltage of a buckboost converter. The converter is a non-linear and non-minimum phase system with variable structure, which is an interesting topic in control engineering. The non-linear controller obtained using the port-Hamiltonian approach exhibits impressive performance. However, parasitic resistance in the inductor and other components brings steady state error in the output. To solve this issue, an outer loop with an integrator is added. The use of an FPAA makes it easier to implement the developed controller compared to using a microcontroller because the controller can be directly synthesized by connecting the analog blocks.",
"container_title": "2023 20th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON)",
"publication_year": "2023",
"volume": "",
"issue": "",
"pages": "1--4",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2023-06-20",
"permalink": "implementation-of-energy-based-controller-for-buck-boost-converter-using-fpaa",
"references": [
{
"identifiers": {
"doi": "10.1109/cdc.1999.831229"
},
"citation": "Rodriguez, H., Ortega, R. & Escobar, G. A robustly stable output feedback saturated controller for the Boost DC-to-DC converter. Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) vol. 3 2100–2105"
},
{
"identifiers": {
"doi": "10.1109/ieecon53204.2022.9741689"
},
"citation": "Thongrailuck, W. & Pongyart, W. Application of port-Hamiltonian Approach in Controller Design for Buck Boost Converter. 2022 International Electrical Engineering Congress (iEECON) 1–4 (2022) doi:10.1109/ieecon53204.2022.9741689"
},
{
"identifiers": {
"doi": "10.1109/ecti-con49241.2020.9158247"
},
"citation": "Roengriang, S., Pongyart, W. & Vanichchanunt, P. Study of Three Phase VSC Models for Controller Design by Using Port-Controlled Hamiltonian. 2020 17th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON) 656–659 (2020) doi:10.1109/ecti-con49241.2020.9158247"
},
{
"identifiers": {
"doi": "10.1109/jproc.2011.2164169"
},
"citation": "Jeltsema, D. & Doria-Cerezo, A. Port-Hamiltonian Formulation of Systems With Memory. Proc. IEEE 100, 1928–1937 (2012)"
},
{
"identifiers": {
"doi": "10.1109/tsp.2019.8769081"
},
"citation": "Angkeaw, K., Pongyart, W. & Prommee, P. Design and Implementation of FPAA based LQR Controller for Magnetic Levitation Control System. 2019 42nd International Conference on Telecommunications and Signal Processing (TSP) 411–414 (2019) doi:10.1109/tsp.2019.8769081"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2017.8264413"
},
"citation": "Zhong, Q.-C. & Stefanello, M. Port-hamiltonian control of power electronic converters to achieve passivity. 2017 IEEE 56th Annual Conference on Decision and Control (CDC) 5092–5097 (2017) doi:10.1109/cdc.2017.8264413"
},
{
"identifiers": {
"doi": "10.1109/tac.2021.3098176"
},
"citation": "Kirchhoff, J. Linear Port-Hamiltonian Systems Are Generically Controllable. IEEE Trans. Automat. Contr. 67, 3220–3222 (2022)"
},
{
"identifiers": {
"doi": "10.1109/ccaa.2018.8777611"
},
"citation": "Ansari, T. & Yasin, Mohd. Y. High frequency FPAA Design using OTA in 45nm CMOS Technology. 2018 4th International Conference on Computing Communication and Automation (ICCCA) 1–5 (2018) doi:10.1109/ccaa.2018.8777611"
},
{
"identifiers": {
"doi": "10.1109/chicc.2015.7260553"
},
"citation": "Yang, T., Fu, Y. L. & Tavakoi, M. FPAA-based control of bilateral teleoperation systems. 2015 34th Chinese Control Conference (CCC) 5841–5845 (2015) doi:10.1109/chicc.2015.7260553"
}
]
},
{
"id": "2a98cd9a-544e-58dc-99a4-1d450922ea05",
"identifiers": {
"doi": "10.1109/ectidamtncon67592.2026.11460039"
},
"type": "proceedings-article",
"title": "Port-Hamiltonian Modeling and Control Design for Single-Phase Pwm Rectifiers",
"authors": [
{
"given": "Wachiravit",
"family": "Buaket",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Rajamangala University of Technology Srivijaya,Faculty of Engineering and Technology,Department of Electrical Engineering,Trang,Thailand"
}
]
}
},
{
"given": "Sittisak",
"family": "Rojchaya",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Rajamangala University of Technology Srivijaya,Faculty of Engineering and Technology,Department of Electrical Engineering,Trang,Thailand"
}
]
}
},
{
"given": "Kittikorn",
"family": "Khanklaeo",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Rajamangala University of Technology Srivijaya,Faculty of Engineering and Technology,Department of Electrical Engineering,Trang,Thailand"
}
]
}
}
],
"abstract": "This paper presents the design of a controller for a single-phase pulse-width modulation (PWM) rectifier, which exhibits nonlinear behavior due to the switching characteristics of PWM during AC-to-DC conversion. The controller is developed using the Port-Hamiltonian framework, enabling the design of a state feedback control strategy that employs all system state variables as feedback inputs. This approach ensures high system stability and a fast dynamic response under varying operating conditions. Simulation results confirm that the proposed controller successfully converts a $\\mathbf{3 1 5 ~ V}$ peak, $\\mathbf{5 0}$ Hz AC input into a stable 800 V DC output. Additionally, under sudden load disturbances, the controller effectively regulates and maintains a steady DC output voltage, demonstrating robust performance and resilience.",
"container_title": "2026 Joint International Conference on Digital Arts, Media and Technology with ECTI Northern Section Conference on Electrical, Electronics, Computer and Telecommunication Engineering (ECTI DAMT & NCON)",
"publication_year": "2026",
"volume": "",
"issue": "",
"pages": "205--209",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2026-04-06",
"permalink": "port-hamiltonian-modeling-and-control-design-for-single-phase-pwm-rectifiers",
"references": [
{
"identifiers": {
"doi": "10.1109/ccdc.2014.6852845"
},
"citation": "Wang H, Cheng Q, Li M, Chen G, Deng L (2014) The study of single-phase PWM rectifier based on PR control strategy. The 26th Chinese Control and Decision Conference (2014 CCDC) 3818–382"
},
{
"identifiers": {
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},
"citation": "Li Taofeng, Ouyang Hui, Kang Yong, Xiong Jian, Fan Shengfang, Zhang Kai, Zhang Pengju (2009) The research of single-phase PWM rectifier based on direct current control technology. 2009 2nd International Conference on Power Electronics and Intelligent Transportation System (PEITS) 276–27"
},
{
"identifiers": {
"doi": "10.1109/resem57584.2023.10236098"
},
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},
{
"identifiers": {},
"citation": "Yangxiao, A novel control method of virtual orthogonal circuit of single-phase PWM rectifier based on complex vector theory. 2016 19th International Conference on Electrical Machines and Systems (ICEMS)"
},
{
"identifiers": {
"doi": "10.1109/tac.2015.2400663"
},
"citation": "Nunna K, Sassano M, Astolfi A (2015) Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems. IEEE Trans Automat Contr 60(9):2350–2361. https://doi.org/10.1109/tac.2015.240066"
},
{
"identifiers": {
"doi": "10.1561/2600000002"
},
"citation": "van der Schaft A, Jeltsema D (2014) Port-Hamiltonian Systems Theory: An Introductory Overview. Foundations and Trends® in Systems and Control 1(2–3):173–378. https://doi.org/10.1561/260000000"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega R, van der Schaft A, Maschke B, Escobar G (2002) Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38(4):585–596. https://doi.org/10.1016/s0005-1098(01)00278-"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/ica-acca.2018.8609834"
},
"citation": "Nicholls FM, Barbosa KA (2018) State feedback regulation on port-Hamiltonian systems: a convex based approach. 2018 IEEE International Conference on Automation/XXIII Congress of the Chilean Association of Automatic Control (ICA-ACCA) 1–"
},
{
"identifiers": {
"doi": "10.1109/ieecon53204.2022.9741689"
},
"citation": "Thongrailuck W, Pongyart W (2022) Application of port-Hamiltonian Approach in Controller Design for Buck Boost Converter. 2022 International Electrical Engineering Congress (iEECON) 1–"
}
]
},
{
"id": "03c9d6c5-af49-5a84-ac2c-9408c6655969",
"identifiers": {
"doi": "10.1109/efea.2014.7059990"
},
"type": "proceedings-article",
"title": "Stabilization of a DC electrical network by damping injection",
"authors": [
{
"given": "Djawad",
"family": "Hamache",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Akram",
"family": "Fayaz",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Emmanuel",
"family": "Godoy",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Charif",
"family": "Karimi",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "It is well known that interactions between weakly damped LC input filters and constant power loads (CPL) can lead to instability. This paper deals, in particular, with this problem when several CPL are connected to the network through undamped LC filters. The second goal is the energy management. They are mainly achieved by controlling the energy flow between the network and a storage device. The latter is a super-capacitor connected to the network via two DC-DC converters. After Port controlled Hamiltonian (PCH) expression of the system dynamics, they are controlled using the passivity approach. A proof of stability of the controlled system is given. Robustness tests relative to parameters uncertainties are realized and simulation results confirm the validity the proposed approach. This approach has also the advantage of requiring the measurement of only two state variables.",
"container_title": "3rd International Symposium on Environmental Friendly Energies and Applications (EFEA)",
"publication_year": "2014",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2015-03-17",
"permalink": "stabilization-of-a-dc-electrical-network-by-damping-injection",
"references": [
{
"identifiers": {
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{
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},
{
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},
{
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
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{
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},
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{
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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{
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},
{
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{
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},
{
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{
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{
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{
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{
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},
{
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}
]
},
{
"id": "035df0b2-1f27-570f-ae01-18806c7a86eb",
"identifiers": {
"doi": "10.1109/ei259745.2023.10513148"
},
"type": "proceedings-article",
"title": "Power Fluctuations Smoothing Control Based on PCH Model of D-PMSG Wind Power System",
"authors": [
{
"given": "Xujie",
"family": "Fu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Polytechnic Institute, Zhejiang University,Hangzhou,China"
}
]
}
},
{
"given": "Xingxi",
"family": "Yang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "School of Electrical Engineering, Zhejiang University,Hangzhou,China"
}
]
}
},
{
"given": "Ji",
"family": "Xiang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "School of Electrical Engineering, Zhejiang University,Hangzhou,China"
}
]
}
}
],
"abstract": "To effectively mitigate power fluctuations in a wind power system, the self-capability of the Direct-drive Permanent Magnet Synchronous Generator (D-PMSG) is harnessed for power smoothing support through the Port-Controlled Hamiltonian (PCH) model. By combining rotor speed control and PCH passive control, the PMSG can quickly track the reference speed and DC-link voltage control can support power smoothly within the rated operating range of the wind turbine. To validate the effectiveness of the proposed method, a simulation was conducted by comparing it with traditional maximum power point tracking control.",
"container_title": "2023 IEEE 7th Conference on Energy Internet and Energy System Integration (EI2)",
"publication_year": "2023",
"volume": "",
"issue": "",
"pages": "1963--1968",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2024-05-09",
"permalink": "power-fluctuations-smoothing-control-based-on-pch-model-of-d-pmsg-wind-power-system",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
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},
{
"identifiers": {
"doi": "10.1109/41.744403"
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
"citation": "Meshram, R. V. et al. Port-Controlled Phasor Hamiltonian Modeling and IDA-PBC Control of Solid-State Transformer. IEEE Trans. Contr. Syst. Technol. 27, 161–174 (2019)"
},
{
"identifiers": {
"doi": "10.23919/ipec.2018.8507616"
},
"citation": "Hou, L., Zheng, X., Wang, C., Li, Y. & Li, H. Based on PCHD and HPSO sliding mode control of D-PMSG wind power system. 2018 International Power Electronics Conference (IPEC-Niigata 2018 -ECCE Asia) 2901–2906 (2018) doi:10.23919/ipec.2018.8507616"
},
{
"identifiers": {
"doi": "10.1007/s40565-018-0421-5"
},
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},
{
"identifiers": {
"doi": "10.1109/tec.2013.2292495"
},
"citation": "Diaz-Gonzalez, F., Bianchi, F. D., Sumper, A. & Gomis-Bellmunt, O. Control of a Flywheel Energy Storage System for Power Smoothing in Wind Power Plants. IEEE Trans. Energy Convers. 29, 204–214 (2014)"
},
{
"identifiers": {
"doi": "10.1109/tste.2016.2615638"
},
"citation": "Zhang, F. et al. Battery ESS Planning for Wind Smoothing via Variable-Interval Reference Modulation and Self-Adaptive SOC Control Strategy. IEEE Trans. Sustain. Energy 8, 695–707 (2017)"
},
{
"identifiers": {},
"citation": "WANG, Research on power smoothing control structure and optimization strategy of wind turbine based on rotor kinetic energy control. [J]. Acta Energiae Solaris Sinica (2022)"
},
{
"identifiers": {
"doi": "10.1109/access.2017.2757929"
},
"citation": "Zhao, X., Yan, Z., Xue, Y. & Zhang, X.-P. Wind Power Smoothing by Controlling the Inertial Energy of Turbines With Optimized Energy Yield. IEEE Access 5, 23374–23382 (2017)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2018.2866629"
},
"citation": "Lyu, X., Zhao, J., Jia, Y., Xu, Z. & Po Wong, K. Coordinated Control Strategies of PMSG-Based Wind Turbine for Smoothing Power Fluctuations. IEEE Trans. Power Syst. 34, 391–401 (2019)"
},
{
"identifiers": {
"doi": "10.1016/j.renene.2011.07.034"
},
"citation": "Chowdhury, M. A., Hosseinzadeh, N. & Shen, W. X. Smoothing wind power fluctuations by fuzzy logic pitch angle controller. Renewable Energy 38, 224–233 (2012)"
},
{
"identifiers": {
"doi": "10.1109/tie.2011.2162217"
},
"citation": "Liu, H. & Li, S. Speed Control for PMSM Servo System Using Predictive Functional Control and Extended State Observer. IEEE Trans. Ind. Electron. 59, 1171–1183 (2012)"
},
{
"identifiers": {
"doi": "10.1109/87.960344"
},
"citation": "Petrovic, V., Ortega, R. & Stankovi, A. M. Interconnection and damping assignment approach to control of PM synchronous motors. IEEE Trans. Contr. Syst. Technol. 9, 811–820 (2001)"
},
{
"identifiers": {},
"citation": "Howlader, Output power smoothing of wind turbine generation system for the 2-MW permanent magnet synchronous generators. Proc. Int. Conf. Elect. Mach. Syst."
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2012.2213101"
},
"citation": "Zhu, J., Booth, C. D., Adam, G. P., Roscoe, A. J. & Bright, C. G. Inertia Emulation Control Strategy for VSC-HVDC Transmission Systems. IEEE Trans. Power Syst. 28, 1277–1287 (2013)"
}
]
},
{
"id": "1f0bb34b-bbc3-5fb0-9899-644881735a5d",
"identifiers": {
"doi": "10.1109/elnano.2018.8477477"
},
"type": "proceedings-article",
"title": "Battery Currents Limitation in Passivity Based Controlled Battery/Supercapacitor Hybrid Energy Storage System",
"authors": [
{
"given": "Ihor",
"family": "Shchur",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Yurii",
"family": "Biletskyi",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In stand-alone power supply systems, due to fluctuations of electric energy generation and consumption, special devices are used for energy storage, most often batteries. In order to remove stress from batteries during sudden load change, it is advisable to use hybrid energy storage system (HESS), by adding a supercapacitor module to the battery. In this work, stand-alone power supply system with battery/supercapacitor HESS of active configuration are investigated in two modes with different structures – at the low load and at the high one. In the latter battery current should be limited due to improve the battery lifetime. Both HESS structures are represented as port-controlled Hamiltonian systems, and the synthesis of control systems is carried out using the IDA-PBC method. Given the nonlinearity of the system and its propensity to oscillations, the transition to the battery current limitation is accomplished by implementing the sliding mode of switching of the designed controllers. The conducted simulation studies in the Matlab/Simulink environment showed the workability and effectiveness of the proposed solution.",
"container_title": "2018 IEEE 38th International Conference on Electronics and Nanotechnology (ELNANO)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "504--510",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-10-30",
"permalink": "battery-currents-limitation-in-passivity-based-controlled-battery-supercapacitor-hybrid-energy-storage-system",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {},
"citation": "becherif, Hybridization of solar panel and batteries for street lighting by passivity based control. Proc 2010 IEEE Inter Energy Conf (0)"
},
{
"identifiers": {
"doi": "10.1016/j.conengprac.2013.04.003"
},
"citation": "Hilairet, M. et al. A passivity-based controller for coordination of converters in a fuel cell system. Control Engineering Practice 21, 1097–1109 (2013)"
},
{
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},
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},
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},
{
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},
"citation": "Sira-Ramirez, H., Perez-Moreno, R. A., Ortega, R. & Garcia-Esteban, M. Passivity-based controllers for the stabilization of Dc-to-Dc Power converters. Automatica 33, 499–513 (1997)"
},
{
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},
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},
{
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},
{
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},
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}
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"doi": "10.1109/emeit.2011.6023889"
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"title": "Study on passivity-based control of voltage source PWM DC/AC inverter",
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{
"given": "Kun",
"family": "Mu",
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{
"given": "Xiaoyu",
"family": "Ma",
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}
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"given": "Xiaobin",
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"abstract": "The mathematical model of Three-phase Voltage Pulse Width Modulation (PWM) DC/AC inverter is non-linear, in view of the traditional linear control strategy can not meet the requirements of designing high-performance DC/AC inverter, this paper propose a new nonlinear control strategy for this called Passivity-based Control. We can alter the inverter model in three-phase abc coordinate to two-phase synchronous rotating dq coordinate for establishing port controlled Hamiltonian with dissipation (PCHD) model for this system. In view of this method, we can control the output energy of the system. Usually, we can use Single Chip Microcomputer or other kinds of computer with this algorithm for our design, this algorithm can be programmed with the computer language, such as C/C++ and assembly language, etc. Simulation results show that passivity-based control method can make this system possess the high-performance of robustness and dynamic.",
"container_title": "Proceedings of 2011 International Conference on Electronic & Mechanical Engineering and Information Technology",
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"issue": "",
"pages": "3963--3967",
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{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/peits.2008.59"
},
"citation": "Wang, J., Xia, P. & Zhang, J. Control Strategy of Three-Phase AC/DC Voltage-Source Converters Based on Storage Function. 2008 Workshop on Power Electronics and Intelligent Transportation System 117–121 (2008) doi:10.1109/peits.2008.59"
}
]
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"doi": "10.1109/epdc62178.2024.10571759"
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"type": "proceedings-article",
"title": "Control of Three Distributed Generators in a DC Microgrid Using Decentralized Passivity-Based Approach",
"authors": [
{
"given": "Amirhosein",
"family": "Mansouri",
"literal": null,
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"affiliation": [
{
"name": "Shahid Beheshti University,Faculty of Mechanical and Energy Engineering,Department of Renewable Energies Engineering,Tehran,Iran"
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]
}
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{
"given": "Mohammad",
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"name": "Shahid Beheshti University,Faculty of Mechanical and Energy Engineering,Department of Renewable Energies Engineering,Tehran,Iran"
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"name": "Shahid Beheshti University,Faculty of Mechanical and Energy Engineering,Department of Renewable Energies Engineering,Tehran,Iran"
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"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Dept. Teacher training in electrical engineering,Bangkok,Thailand"
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{
"given": "Serge",
"family": "Pierfederici",
"literal": null,
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"affiliation": [
{
"name": "Université de Lorraine, CNRS,LEMTA,Nancy,France"
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],
"abstract": "This paper presents a decentralized control method for three distributed generations (DG) supply DC microgrid. The model of the considered system is presented as a port-Hamiltonian system. With an interconnection and damping assignment passivity-based control (IDA-PBC), including droop voltage control, it offers the ability to control different power-rated energy sources thanks to the passivity-based control with a DC-DC switching power converter. Thanks to the passivity property, global stability is guaranteed. The simulation results obtained using MATLAB/Simulink with the switching model are provided.",
"container_title": "2024 28th International Electrical Power Distribution Conference (EPDC)",
"publication_year": "2024",
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"issue": "",
"pages": "1--5",
"publisher": "IEEE",
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"created_date": "2024-06-28",
"permalink": "control-of-three-distributed-generators-in-a-dc-microgrid-using-decentralized-passivity-based-approach",
"references": [
{
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{
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.1109/epim.2018.8756428"
},
"type": "proceedings-article",
"title": "Integration of PV Arrays in DC Power Grids via Unidirectional Boost Converters: a PBC Approach",
"authors": [
{
"given": "O. D.",
"family": "Montoya",
"literal": null,
"source_fields": {
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},
{
"given": "J. E.",
"family": "Campillo",
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}
},
{
"given": "W.",
"family": "Gil-Gonzalez",
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{
"given": "A.",
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"abstract": "This paper presents a general control design for photovoltaic systems integrated with Direct–Current power grids by using an unidirectional boost converter. Passivity–based control (PBC) theory is used as a control technique since the dynamical model of the boost converter has an intrinsically port–Hamiltonian structure, where PBC theory is based upon, to design stable controllers via Lyapunov stability theory. To control the photovoltaic solar system, a current control mode is used, since photovoltaic cells are mathematically modelled as current sources, where the photo–current determined by the solar irradiance and the cell’s temperature. Proportional and proportional–integral passivity–based controllers are developed to operate the boost converter under current control mode to extract the maximum power available in the PV array. Simulation results are conducted via MATLAB/ODE–package software.",
"container_title": "2018 IEEE 9th Power, Instrumentation and Measurement Meeting (EPIM)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "1--6",
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{
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{
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{
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{
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{
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}
]
},
{
"id": "0c54523a-7342-5cd8-99c7-6db66853949c",
"identifiers": {
"doi": "10.1109/esars-itec.2018.8607674"
},
"type": "proceedings-article",
"title": "IDA-Passivity-Based Control for Boost Converter with LC Filter Supplying Constant Power Load",
"authors": [
{
"given": "Shengzhao",
"family": "Pang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Babak",
"family": "Nahid-Mobarakeh",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Serge",
"family": "Pierfederici",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Milad",
"family": "Bahrami",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Yigeng",
"family": "Huangfu",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Guangzhao",
"family": "Luo",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Fei",
"family": "Gao",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "An interconnection and damping assignment (IDA) passivity-based control (PBC) scheme for boost converter cascaded with LC filter supplying constant power load (CPL) is presented in this paper. The plant is described by port-controlled Hamiltonian (PCH) form. To perfect the implementation of the CPL application, an improved IDA-PBC is introduced based on the error between the desired equilibrium point and the state variable. Furthermore, the virtual damping assignment technique is addressed to tune the dynamic characteristic and an adaptive interconnection matrix is introduced for building the internal links in PCH models. Simulation and experimental results are given to show the effectiveness of the proposed approach.",
"container_title": "2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
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"doi": "10.1109/etep67941.2025.11440638"
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"type": "proceedings-article",
"title": "Research on Power Fluctuation Suppression of Photovoltaic Microgrid Based on Hybrid Energy Storage",
"authors": [
{
"given": "Junda",
"family": "Zhang",
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"name": "State Grid Zhejiang Integrated Energy Service Company,Hangzhou,China,l310016"
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"abstract": "With a high proportion of renewable energy connected to the power system, the power fluctuation problem of photovoltaic microgrid is becoming increasingly prominent. It is difficult for a single energy storage technology to meet the requirements of high power density and high energy density at the same time. Hybrid energy storage system (HESS) has become an effective solution to stabilize power fluctuation through the cooperative work of energy and power energy storage equipment. In this paper, a collaborative control strategy of \"system-level frequency division correction-equipment-level energy shaping\" is proposed. In the system level, Moby Dick optimization algorithm (BWO) is used to optimize the parameters of Variational Modal Decomposition (VMD) to achieve accurate frequency division of power signals, and in the equipment level, an energy shaping (ES) controller is designed based on port-controlled Hamiltonian (PCH) model. Through Matlab/Simulink simulation verification, the power deficit range of the system before suppression was -863.31W to 1182.25W. After adopting the control strategy proposed in this paper, the power deficit was suppressed to - 47.12W to 81.87W, reducing the fluctuation amplitude by 93.78%. Compared to traditional PI control, this strategy lowers DC bus voltage fluctuations by 45.3% to 65.8% and shortens suppression time by 24.7% to 33.3%. It significantly enhances the microgrid's stability and dynamic response performance under sudden power changes.",
"container_title": "2025 2nd International Conference on Energy Technology and Electrical Power (ETEP)",
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"pages": "251--256",
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"references": [
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"title": "Port-Hamiltonian modelling of Modular Multilevel Converters with fixed equilibrium point",
"authors": [
{
"given": "Gilbert",
"family": "Bergna-Diaz",
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"abstract": "The paper presents the derivation of a port-Hamiltonian model of an averaged Modular Multilevel Converter (MMC) that reaches a fixed equilibrium point solution. This MMC model can not be expressed in a straightforward way in a port-Hamiltonian framework due to the lack of skew-symmetry of its interconnection matrices. This work proposes a change of variable and a new per unit notation to overcome this limitation, obtaining a port-Hamiltonian model of the MMC with static equilibrium, useful for control design purposes.",
"container_title": "2017 Twelfth International Conference on Ecological Vehicles and Renewable Energies (EVER)",
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{
"given": "Lalitesh",
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"name": "Zhejiang University,College of Control Science and Engineering,Hangzhou,P. R. China,310027"
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"name": "Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,P. R. China,310058"
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"name": "Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,P. R. China,310058"
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"given": "Zhongliang",
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"abstract": "Starting from the classical structure of a three-phase voltage DC-AC converter whose basic controller is designed based on the PI-type control law, this article shows the structure of a DC-AC converter control system (CCS) based on the Port Controlled Hamiltonian (PCH) controller, along with the improvement of DC-AC CCS performance by means of machine learning (ML) strategy. Among these strategies, the most suitable for process control is reinforcement learning (RL), and the RL Twin-Delayed Deep Deterministic Policy Gradient (TD3) agent was chosen from the concrete implementations. The control structures and the synthesis of the PCH control law based on passivity theory are presented, and, in addition, the creation and training of an RL-TD3 agent is presented. Through numerical simulations it is proved the improvement in the DC-AC CCS performance in case of using the RL-TD3 agent in terms of the performance indicators of the control systems, of which we mention: response time, steady-state error, ripple, but also in terms of the quality of electricity according to the Total Harmonic Distortion (THD) analysis.",
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"doi": "10.1007/978-3-030-61867-4"
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"abstract": "This paper addresses the voltage regulation problem on isolated three-phase microgrids via passivity-based control (PBC) with a proportional regulator under the abc reference frame. This reference frame is employed to design the proportional controllers to support voltage and frequency profiles on time-varying loads through a combination of small distributed energy resources and battery energy storage systems. The proposed approach avoids using frequency measurements and reduces the complexity of the control problem. PBC theory exploits natural port-Hamiltonian formulations of the power electronic converters to design controllers, guaranteeing stability for closed-loop operation. Two passivity-based proportional controllers are proposed and compared with conventional proportional actions reported in specialized literature. Simulation results show the effectiveness and robustness of the proposed approach to fulfill the control tasks.",
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"abstract": "In this paper, we present a model-based frequency controller for microgrids with nonzero line resistances based on a port-Hamiltonian formulation of the microgrid model and real-time dynamic pricing. The controller is applicable for conventional generation with synchronous machines as well as for power electronics interfaced sources and it is robust against power fluctuations from uncontrollable loads or volatile regenerative sources. The price-based formulation allows additional requirements such as active power sharing to be met. The capability and effectiveness of our procedure is demonstrated by means of an 18-node exemplary grid.",
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{
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"type": "proceedings-article",
"title": "Passive shared virtual environment for distributed haptic cooperation",
"authors": [
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"given": "Ramtin",
"family": "Rakhsha",
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"given": "Daniela",
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"abstract": "For distributed haptic cooperation systems, this paper develops a framework for virtual environments such that the design of the coordinating controllers is decoupled from the network topology and the communication issues. The discrete-time n-port passivity of the shared virtual object (SVO) is presented when n SVO copies are distributed on an undirected and connected communication topology with unreliable data transmission. Wave nodes as passive network elements can be implemented on multilateral wave-based communication architecture to passively distribute power across the network. In this note, the wave node scheme introduced in [16] is employed to construct a passive wave-based network architecture in order to passively interconnect multiple discrete-time port-Hamiltonian local SVO copies alongside their coordinating controllers. The performance analysis shows that the proposed network architecture: (i) possesses n-port passivity over a network with time-varying delay and packet-loss; (ii) is lossless when subjected to communications with no time delay; and (iii) offers less dissipation comparing to the network structures built based on the node scheme proposed in [18]. Simulations in which a VO is shared among four peers across a network with constant and varying time-delay validate the analysis.",
"container_title": "2014 IEEE Haptics Symposium (HAPTICS)",
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"issue": "",
"pages": "221--226",
"publisher": "IEEE",
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"created_date": "2014-03-28",
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"title": "Comparative Study of Different Passivity-Based Non-linear Control of DC-DC Boost Converter",
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"given": "Mitesh R.",
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"abstract": "The DC-DC boost converter has a non-linear characteristic and the control-to-output transfer function of the linearised model exhibits a non-minimum phase system with a right-half-plane (RHP) zero. The consequence of this zero is a sluggish response of the converter and it’s difficult to design a controller that is robust against load variation. In this work, we present a non-linear passivity-based control (PBC) algorithm to regulate the output voltage of the DC-DC boost converter. This controller works on the principle of an ‘energy shaping plus damping injection’, which is obtained from non-linear dynamical feedback. The non-linear DC-DC boost converter is modeled by using Euler-Lagrange, Port-controlled Hamiltonian and Brayton-Moser equations. These different classical mechanics based controller’s design and their simulation results of input-output variables are compared under reference step changes and load perturbations in MATLAB/Simulink.",
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{
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},
{
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"title": "Modeling and Passivity-Based Control of Hybrid Sources: Fuel Cell and Supercapacitors",
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"given": "M.",
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"abstract": "Fuel cell (FC) constitutes a good alternative for using clean energy in embarked systems. To overcome several difficulties in using FCs as unique energy sources, the association of supercapacitor (SC) as power sources is proposed. A recent approach of passivity-based control (PBC) is the interconnection and damping assignment (IDA-PBC) which is a very useful technique to control systems assigning a desired port-controlled Hamiltonian (PCH) structure to the closed-loop. This paper constitutes a first attempt to use energy principles and PBC to regulate hybrid sources for embarked electric energy system",
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"pages": "1134--1139",
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"doi": "10.1109/ias.2018.8544662"
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"type": "proceedings-article",
"title": "IDA-Passivity-Based Control for On-board DC Power Converter System with Constant Power Load",
"authors": [
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"given": "Shengzhao",
"family": "Pang",
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"abstract": "Moving toward more electric aircraft (MEA) concept, electrification of modern aircraft will consist of a large amount of constant power load (CPL), which giving tough stability problems and research opportunities. In such an application, on-board dc power system may have a time-varying system structure and operation pattern due to the flexibility of the distributed loads. This feature poses challenges for system stability and increases the difficulty of the stability analysis. To solve this problem, an interconnection and damping assignment (IDA) passivity-based controller (PBC) is proposed in this paper. Particularly, an adaptive interconnection matrix is designed for building the internal links in port-controlled Hamiltonian (PCH) system, and the virtual damping assignment technique is addressed to tune the dynamic characteristic. To meet all the electricity supply needs, the design procedures were introduced for determining the control law in both boost converter and buck converter cases. Simulation and experimental results are performed to confirm the proposed control algorithm. Results show that the proposed control approach ensures the stability and the fast response of the system in different cases when the CPL changes.",
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"pages": "1--6",
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"type": "proceedings-article",
"title": "Improving the Stability of Cascaded DC-DC Converter Systems via the Viewpoints of Passivity-Based Control and Port-Controlled Hamiltonian Framework",
"authors": [
{
"given": "Shengzhao",
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"abstract": "This paper proposes the stabilization method of the DC microgrid, which includes multiple cascaded DC/DC power converters and LC filters. Stability is achieved by building a modified Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) based on port-controlled Hamiltonian modeling at the subsystem level. Firstly, the general design process of the proposed control strategy and its large-signal stability proof are introduced, and then the stability of the whole microgrid is proved. Secondly, a design example of the source subsystem controller is given. Finally, the modified IDA-PBC is applied to the basic unit of a DC microgrid. The experimental results and Hardware-in-the-loop results indicate the effectiveness of the proposed strategy.",
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{
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{
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}
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"type": "proceedings-article",
"title": "Port-Hamiltonian Modeling and IDA-PBC Control of an Extended SEPIC Converter for Bidirectional V2X Applications",
"authors": [
{
"given": "Hatem",
"family": "SGHIRI",
"literal": null,
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{
"name": "LR11ES26 University of Carthage,Computer Laboratory for Industrial Systems,Tunisia"
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"abstract": "This paper proposes a rigorous modeling and control strategy based on the port-Hamiltonian ($\\mathbf{p H}$) framework applied to a bidirectional DC-DC extended SEPIC converter intended for Vehicle-to-Everything (V2X) applications. Unlike commonly used idealized averaged models, the proposed formulation explicitly incorporates dissipative effects arising from parasitic resistances of inductors, equivalent series resistances of capacitors, and switching component losses. The system is described using canonical energy variables, ensuring intrinsic consistency of power exchanges and dissipation. A Lyapunov based stability analysis is carried out, and an Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) law is developed to guaranty output voltage regulation under bidirectional power flow operation. The desired equilibrium point is analytically computed from the dissipative steady-state equations, avoiding the use of iterative numerical methods. MATLAB/Simulink simulation results confirm the theoretical validity of the proposed approach and demonstrate robust regulation under load variations.",
"container_title": "2026 IEEE International conference on Advanced Systems and Emergent Technologies (IC_ASET)",
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"title": "State feedback regulation on port-Hamiltonian systems: a convex based approach",
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{
"given": "Felipe M.",
"family": "Nicholls",
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"abstract": "This paper focuses on the state feedback control design for a class of non-linear port-Hamiltonian systems. Attention is given for non-linear systems which can be modeled as a port-Hamiltonian systems with affine state-dependent interconnection and damping matrices, and quadratic state-dependent Hamiltonian function. In particular, an LMI based characterization of the energy balance equation is achieved. Moreover, an hyper-rectangle is established on the state space domain, attempting to maximize the domain of attraction iteratively. The proposed method is applied to the third order Lotka Volterra food chain system, with good results on the convergence to steady state at the origin.",
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"type": "proceedings-article",
"title": "On the Modeling of a Three-Level Flying Capacitor Buck DC-DC Converter based on Bond Graph and Port Hamiltonian System Approaches",
"authors": [
{
"given": "Matias",
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"literal": null,
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{
"name": "Universidad Técnica Federico Santa María,Electronics Department,Valparaiso,Chile"
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"given": "Christian A.",
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"name": "Universidad Técnica Federico Santa María,Electronics Department,Valparaiso,Chile"
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"given": "Hector",
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"name": "Universidad Técnica Federico Santa María,Electronics Department,Valparaiso,Chile"
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"given": "Eduardo",
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"name": "Universidad Católica de la Santísima Concepción,Department of Electrical Engineering,Concepción,Chile"
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"abstract": "The advancement of power electronics field today has allowed us to generate new technologies in various areas such as renewable energies, energy storage systems with batteries, electric chargers, electric vehicle traction systems, and more. New technologies are increasingly demanding in terms of accuracy of system variables; for this, advanced control methods are applied, and this requires a model that correctly represents the operation of the system. The models of power converters are not trivial; therefore, this paper proposes to model a ThreeLevel Flying Capacitor Buck DC-DC Converter using the bond graph technique, which is a multiphysics modeling tool based on the electrical domain that will facilitate the comprehensive modeling of the system. In addition, the obtained model from the bond graph approach can be directly linked with a Port Hamiltonian System, to obtain a physical representation of the system and based on the conservation of energy. Moreover, results are presented with a proposed non-linear closed-loop control model decoupling the voltage and current dynamics of the multilevel converter. The obtained dynamic results demonstrate the good performance of the proposed modeling methodology.",
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},
{
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"identifiers": {
"doi": "10.1109/icaacca51523.2021.9465330"
},
"type": "proceedings-article",
"title": "Port-Hamiltonian modeling of the vocal folds using bond-graph representation",
"authors": [
{
"given": "Javier G.",
"family": "Fontanet",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Oriente University,Department of Automatic Engineering,Santiago de Cuba,Cuba"
}
]
}
},
{
"given": "Juan I.",
"family": "Yuz",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Universidad Técnica Federico Santa María,Electronic Engineering Department,Valparaiso,Chile"
}
]
}
},
{
"given": "Javier A.",
"family": "Torres",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Universidad Técnica Federico Santa María,Electronic Engineering Department,Valparaiso,Chile"
}
]
}
},
{
"given": "Marco A.",
"family": "Gordon",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Universidad Técnica Federico Santa María,Electronic Engineering Department,Valparaiso,Chile"
}
]
}
},
{
"given": "Hector",
"family": "Ramirez",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Universidad Técnica Federico Santa María,Electronic Engineering Department,Valparaiso,Chile"
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"abstract": "In this work we obtain the bond-graph representation of the vocal folds, to then obtain a port-Hamiltonian model. This model is based on the mechanical elements that represent the folds in the body cover model (BCM). The obtained port-Hamiltonian system is then discretised using a truncated Taylor series expansion. State and parameter estimation for this discretised model is then performed using an Extended Kalman Filter and Maximum Likelihood, respectively.",
"container_title": "2021 IEEE International Conference on Automation/XXIV Congress of the Chilean Association of Automatic Control (ICA-ACCA)",
"publication_year": "2021",
"volume": "",
"issue": "",
"pages": "1--7",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2021-07-01",
"permalink": "port-hamiltonian-modeling-of-the-vocal-folds-using-bond-graph-representation",
"references": [
{
"identifiers": {
"doi": "10.1121/1.4802743"
},
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},
{
"identifiers": {
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},
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"citation": "Yu, H., Hou, J. & Wang, Y. Maximum Output Power Control of Permanent Magnet Synchronous Motor Based on Energy-shaping Principle. 2007 IEEE International Conference on Automation and Logistics 2008–2012 (2007) doi:10.1109/ical.2007.4338904"
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"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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"doi": "10.1109/wcica.2008.4594569"
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"citation": "Haisheng Yu, Jun Hou & Zongwei Zou. Position control of PMSM based on energy-shaping and MTPA principle. 2008 7th World Congress on Intelligent Control and Automation 6532–6536 (2008) doi:10.1109/wcica.2008.4594569"
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"doi": "10.1007/s11768-008-7193-9"
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"citation": "González, H., Duarte-Mermoud, M. A., Pelissier, I., Travieso-Torres, J. C. & Ortega, R. A novel induction motor control scheme using IDA-PBC. J. Control Theory Appl. 6, 59–68 (2008)"
},
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"doi": "10.1016/j.automatica.2006.09.008"
},
"citation": "Wang, Y., Feng, G. & Cheng, D. Simultaneous stabilization of a set of nonlinear port-controlled Hamiltonian systems. Automatica 43, 403–415 (2007)"
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{
"identifiers": {},
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"citation": "yu, maximum torque per ampere control of pm synchronous motor based on port-controlled hamiltonian system theory. Proceedings of the CSEE (2006)"
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"citation": "yu, speed control of pmsm based on energy-shaping and pwm signal transformation principle. International Conference on Electrical Machines and Systems (2008)"
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"citation": "yu, energy shaping control of pm synchronous motor based on load torque observer. Journal of Systems Engineering and Electronics (2006)"
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"abstract": "This work proposes PH-based metrics for benchmarking impedance control. A causality-consistent PH model is introduced for mass-spring-damper impedance in Cartesian space. Based on this model, a differentiable, force-torque sensing-independent, n-DoF passivity condition is derived, valid for time-varying references. An impedance fidelity metric is also defined from step-response power in free motion, capturing dynamic decoupling. The proposed metrics are validated in Gazebo simulations with a six-DoF manipulator and a quadruped leg. Results demonstrate the suitability of the PH framework for standardized impedance control benchmarking.",
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{
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{
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{
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"title": "Speed control of induction motors based on energy-shaping and signal transformation principle",
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"abstract": "Applying a novel control method of the Port-Controlled Hamiltonian (PCH) systems with dissipation, the modelling and speed tracking control of induction motor is presented when load torque is known and unknown. A PCH model of induction motor is established. The induction motor and controller are interconnected, and desired closed-loop PCH system structure is obtained by the feedback control. The desired closed-loop Hamiltonian function is given. The controller and load torque observer are designed. The equilibrium stability of the closed-loop system is also verified. Using SVPWM signal transformation method, speed regulation of induction motor is implemented by controlling the duty ratio of every converter switch. The simulation results show the system has good load disturbances attenuation and good speed tracking performances.",
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"citation": "González, H., Duarte-Mermoud, M. A., Pelissier, I., Travieso-Torres, J. C. & Ortega, R. A novel induction motor control scheme using IDA-PBC. J. Control Theory Appl. 6, 59–68 (2008)"
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{
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"citation": "yu, Energy shaping control of PM synchronous motor based on load torque observer. Systems Engineering and Electronics (2006)"
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"doi": "10.1109/ical.2007.4338904"
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"citation": "Yu, H., Hou, J. & Wang, Y. Maximum Output Power Control of Permanent Magnet Synchronous Motor Based on Energy-shaping Principle. 2007 IEEE International Conference on Automation and Logistics 2008–2012 (2007) doi:10.1109/ical.2007.4338904"
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{
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{
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{
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"abstract": "Micro-grids, which utilize photo-voltaic (PV) cells, wind turbines, and batteries, are gaining widespread adoption as a viable solution for renewable and sustainable energy infrastructures. However, ensuring the reliability and stability of these power grids is critical, and several control strategies have been developed to achieve these goals. In this study, we have modeled the decentralized behavior of microgrids using the port-Hamiltonian formulation and a PI controller to control the inverter voltage and output power. To demonstrate the effectiveness of our control method, we have conducted simulations that consider both maximum and worst-case system fluctuations.",
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"identifiers": {
"doi": "10.3390/en15082906"
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{
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.1109/tie.2012.2194969"
},
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},
{
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{
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{
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{
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{
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{
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{
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{
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{
"identifiers": {
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"doi": "10.1109/iccep.2007.384179"
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"type": "proceedings-article",
"title": "Energy management of solar panel and battery system with passive control",
"authors": [
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"given": "Mohamed",
"family": "Becherif",
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"given": "Damien",
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"abstract": "The objective of this paper is to determine a simple controller for street lighting application using an energy shaping method (Passivity-Based Control (PBC)). The idea is to supply such lights with clean electricity and isolated from the network. To answer this problem, one solution consists on the association of photovoltaic (PV) panel and battery. Battery can store energy from PV panel during the day and give it back during the night. First, the system model is presented then Port-Controlled Hamiltonian (PCH) form is written. This form allows to exhibit system characteristics and to simplify the stability proof. Then the control law is deduced using passivity theory and simulation results are shown. Contrary to PI or hysteresis control usually applied for these systems, here no sensor device is used for the control.",
"container_title": "2007 International Conference on Clean Electrical Power",
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"pages": "14--19",
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{
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{
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"id": "5aacb929-5238-523e-85ef-33fd0d61af4b",
"identifiers": {
"doi": "10.1109/icconscs.2013.6632023"
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"type": "proceedings-article",
"title": "Identifiability of linear lossless Port-controlled Hamiltonian systems",
"authors": [
{
"given": "Silviu",
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{
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"abstract": "The aim of this paper, is to study the identifiability property, of Port-Controlled Hamiltonian systems. A simple identifiability condition, is derived by transforming the port-Hamiltonian systems to the observable canonical form. Indeed, the observable canonical form, gives the possibility to represent the transfer function in a simplified form, similar to ARMAX models, used in identification. In order to test the identifiability of Port-Controlled Hamiltonian systems, a test was realized in the case of a LC circuit.",
"container_title": "2nd International Conference on Systems and Computer Science",
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"issue": "",
"pages": "56--61",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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"title": "Bond graph model and Port-Hamiltonian formulation of an enzymatic reaction in a CSTR",
"authors": [
{
"given": "Mohit",
"family": "Makka",
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"given": "Jean-Yves",
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"abstract": "This paper proposes a chemical Port-Hamiltonian formulation of a well-mixed CSTR model considering that the chemical reaction is taking place at constant pressure and temperature. More focus is put on chemical reaction network theory and its inclusion in the formulation to achieve synchronization between concentration space and reaction space. It is made clear that Gibbs free energy is an apt Hamiltonian function for such cases. The same concept is applied on a basic enzyme reaction. The Bond Graph models related to Hamiltonian formulation for both types of reactions are given in order to show its ability of pictorial representation and intuitive solution.",
"container_title": "2nd International Conference on Systems and Computer Science",
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"issue": "",
"pages": "68--73",
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{
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{
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{
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{
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{
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{
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{
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},
{
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{
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{
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{
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"id": "402a02f9-684f-5bcf-95c8-8dc6cd43fbad",
"identifiers": {
"doi": "10.1109/iceaa.2013.6632246"
},
"type": "proceedings-article",
"title": "A port-hamiltonian finite-element formulation for the maxwell equations",
"authors": [
{
"given": "O.",
"family": "Farle",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
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{
"given": "D.",
"family": "Klis",
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{
"given": "M.",
"family": "Jochum",
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"affiliation": []
}
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{
"given": "O.",
"family": "Floch",
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{
"given": "R.",
"family": "Dyczij-Edlinger",
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"abstract": "A new port-Hamiltonian formulation for Maxwell's equations is presented. In contrast to previous approaches for distributed-parameter systems, it is directly applicable to the finite-element method. For this purpose, the dual complex has been eliminated from the underlying Dirac structure. The discretization step preserves the port-Hamiltonian structure and important conservation laws.",
"container_title": "2013 International Conference on Electromagnetics in Advanced Applications (ICEAA)",
"publication_year": "2013",
"volume": "",
"issue": "",
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"abstract": "The port-Hamiltonian system (pHS) framework established for coupled system formulations in multi-model and multi-physics problems considers physical model formulations either in a continuous setting as sets of partial differential equations or, alternatively, in discrete variants as pH differential-algebraic equations (pH-DAEs) [1]. The key to pHS formulations is that they are established with respect to energy conservation and dissipation inequalities. A typical $\\mathrm{pH}-\\mathrm{DAE}$ is given in the form",
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"abstract": "The objective of this research work is to present the Port Hamiltonian modelling of integrated Port Hamiltonian model of the mechanical ventilator- human respiratory system. Three case scenarios which include a healthy person, a sedated patient, and a spontaneously breathing patient are used to demonstrate the application of this model. The proposed model is sufficiently detailed enough to reproduce human respiratory responses to be applied in different representations of positive pressure while still maintaining low computational costs. The simulated results obtained are comparable to those in literature. The presented formulation of the Port Hamiltonian lumped parameter model can be applied in the design of robust controllers for Mechanical ventilators' patient dynamics.",
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"abstract": "This paper proposes an enhanced control strategy for islanded AC microgrids, targeting the challenges of power-sharing, and voltage magnitude and frequency control. The proposed approach combines the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method with droop control to control active and reactive power-sharing, as well as voltage magnitude and frequency. A port-controlled Hamiltonian model is developed to synthesize the control laws ensuring local stability at the microgrid’s equilibrium point. In comparison to previous IDA-PBC approaches presented in the literature, the approach proposed in this paper integrates droop control to improve dynamic performance and enable effective load sharing among distributed generation units. The performance of the proposed approach is evaluated using MATLAB/Simulink simulations on an islanded microgrid consisting of two sources and a constant impedance load. The obtained results demonstrate accurate active and reactive power-sharing, as well as efficient voltage control under disturbances.",
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"abstract": "We present a distributed and price-based control approach for frequency regulation in power grids with nonzero line conductances. Both grid and controller are modeled as a port-Hamiltonian system, where the grid model consists of differential as well as algebraic equations. Simulations show that the resulting controller asymptotically stabilizes the frequency while maintaining minimum overall generation costs in steady state and being robust in terms of clock drifts and uncontrollable loads. Moreover, it is shown that active power sharing can be achieved by an appropriate choice of the cost function.",
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"title": "Improved Stability Based on Lyapunov-Hamiltonian Control Law for Multi-Segment Converters in DC Microgrids Interconnections",
"authors": [
{
"given": "Phatiphat",
"family": "Thounthong",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Renewable Energy Research Centre,Bangkok,Thailand"
}
]
}
},
{
"given": "Tatapong",
"family": "Phondee",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Rajamangala University of Technology Lanna,Clean Energy System - Wireless Power Transfer Innovation Lab (CES-WPT iLab),Department of Electrical Engineering,Chiang Rai,Thailand"
}
]
}
},
{
"given": "Wuttikai",
"family": "Tammawan",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Rajamangala University of Technology Lanna,Clean Energy System - Wireless Power Transfer Innovation Lab (CES-WPT iLab),Department of Electrical Engineering,Chiang Rai,Thailand"
}
]
}
},
{
"given": "Burin",
"family": "Yodwong",
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"sequence": "additional",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Renewable Energy Research Centre,Bangkok,Thailand"
}
]
}
},
{
"given": "Nicu",
"family": "Bizon",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "The National University of Science and Technology POLITEHNICA Bucharest, Pitești University Centre,Pitesti,Romania,110040"
}
]
}
},
{
"given": "Gianpaolo",
"family": "Vitale",
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{
"name": "Italian National Research Council of Italy,Institute for High Performance Computing and Networking (ICAR),Palermo,Italy"
}
]
}
},
{
"given": "Serge",
"family": "Pierfederici",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "University of Lorraine,Laboratoire d’Energetique et de Mecanique Théorique et Appliquée, UMR 7563 CNRS,Vandoeuvre-lès-Nancy,France,54500"
}
]
}
},
{
"given": "Babak",
"family": "Nahid-Mobarakeh",
"literal": null,
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"sequence": "additional",
"affiliation": [
{
"name": "McMaster University,Electrical and Computer Engineering,Hamilton,Canada,ON L8S 4L8"
}
]
}
},
{
"given": "Pongsiri",
"family": "Mungporn",
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"sequence": "additional",
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"name": "King Mongkut’s University of Technology North Bangkok,Renewable Energy Research Centre,Bangkok,Thailand"
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]
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"abstract": "This paper presents a robust control strategy for enhancing the large-signal stability of DC microgrids with interconnected multi-segment converters. An improved Lyapunov-Hamiltonian Control Law (LHCL) is proposed to regulate the dynamic behavior of interleaved Boost/Buck converters supplied by fuel cells. By exploiting port-Hamiltonian modeling and integrating Lyapunov-based damping, the controller dynamically adapts to varying load conditions, particularly under challenging constant power load (CPL) scenarios. The proposed method ensures global stability by shaping energy flow and minimizing oscillations through analytically derived damping terms. Experimental validation on a test bench equipped with a real-time dSPACE controller demonstrates the superior performance of the LHCL approach under both constant resistance and CPL disturbances. The results confirm the method’s effectiveness in maintaining voltage stability, achieving current balancing, and ensuring robust energy management in DC microgrid interconnections.",
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"issue": "",
"pages": "348--353",
"publisher": "IEEE",
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"created_date": "2026-02-03",
"permalink": "improved-stability-based-on-lyapunov-hamiltonian-control-law-for-multi-segment-converters-in-dc-microgrids-interconnections",
"references": [
{
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},
{
"id": "d415e9c6-aade-5857-90ae-35f7385e4aa3",
"identifiers": {
"doi": "10.1109/icecie66637.2025.11363830"
},
"type": "proceedings-article",
"title": "Stability Enhancement of Hybrid Fuel Cell-Battery-Supercapacitor Systems Using a Hamiltonian Control Approach",
"authors": [
{
"given": "Phatiphat",
"family": "Thounthong",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Faculty of Technical Education,Bangkok,Thailand"
}
]
}
},
{
"given": "Pongsiri",
"family": "Mungporn",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Renewable Energy Research Centre,Bangkok,Thailand"
}
]
}
},
{
"given": "Nicu",
"family": "Bizon",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "The National University of Science and Technology POLITEHNICA Bucharest, Piteşti University Centre,Pitesti,Romania,110040"
}
]
}
},
{
"given": "Gianpaolo",
"family": "Vitale",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Italian National Research Council of Italy,Institute for High Performance Computing and Networking (ICAR),Palermo,Italy"
}
]
}
},
{
"given": "Serge",
"family": "Pierfederici",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "University of Lorraine,Laboratoire d’Energetique et de Mecanique Théorique et Appliquée, UMR 7563 CNRS,Vandœuvre-lès-Nancy,France,54500"
}
]
}
},
{
"given": "Babak",
"family": "Nahid-Mobarakeh",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "McMaster University,Electrical and Computer Engineering,Hamilton,ON,Canada,L8S 4L8"
}
]
}
},
{
"given": "Burin",
"family": "Yodwong",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Renewable Energy Research Centre,Bangkok,Thailand"
}
]
}
}
],
"abstract": "This paper presents a Hamiltonian control law to enhance the stability and performance of a hybrid energy storage system (HESS) composed of a proton exchange membrane (PEM) fuel cell, lithium-ion battery, and supercapacitor. The control design is based on port-Hamiltonian system theory, enabling dynamic energy management among sources while maintaining global system stability. A nonlinear control law is developed using damping-injection techniques to regulate the DC bus voltage, ensure optimal power sharing, and respect power and energy constraints of each component. The strategy allocates fast dynamics to the supercapacitor, medium response to the battery, and slow dynamics to the fuel cell, achieving efficient energy coordination. Experimental validation is performed using a dSPACE controlled test bench with real-time monitoring. Results confirm that the proposed method ensures fast transient response, smooth voltage regulation, and robust operation under sudden load variations.",
"container_title": "2025 7th International Conference on Electrical, Control and Instrumentation Engineering (ICECIE)",
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"volume": "",
"issue": "",
"pages": "336--341",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2026-02-03",
"permalink": "stability-enhancement-of-hybrid-fuel-cell-battery-supercapacitor-systems-using-a-hamiltonian-control-approach",
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{
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},
{
"identifiers": {
"doi": "10.1109/tste.2021.3050783"
},
"citation": "Thounthong P, Mungporn P, Pierfederici S, Guilbert D, Takorabet N, Nahid-Mobarakeh B, Hu Y, Bizon N, Huangfu Y, Kumam P, Burikham P (2021) Robust Hamiltonian Energy Control Based on Lyapunov Function for Four-Phase Parallel Fuel Cell Boost Converter for DC Microgrid Applications. IEEE Trans Sustain Energy 12(3):1500–1511. https://doi.org/10.1109/tste.2021.305078"
}
]
},
{
"id": "46e45082-98f5-50dc-a5c0-da2c84eacd4e",
"identifiers": {
"doi": "10.1109/icee52715.2021.9544237"
},
"type": "proceedings-article",
"title": "Robust IDA-PBC for a Spatial Underactuated Cable Driven Robot with Bounded Inputs",
"authors": [
{
"given": "M. Reza J.",
"family": "Harandi",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "S. Ahmad",
"family": "Khalilpour",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Hamid",
"family": "Taghirad",
"literal": null,
"source_fields": {
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}
}
],
"abstract": "Stabilization of underactuated systems is a challenging problem especially when external disturbance is applied and the actuators are limited. Interconnection and damping assignment passivity-based control (IDA-PBC) is an approach to regulate the systems represented by port Hamiltonian modeling such as underactuated robots while its application is restricted by some PDEs. In this paper, IDA-PBC is implemented on a spatial3-DOF underactuated cable driven manipulator. A robust term with respect to bounded matched disturbance is designed, non-negative tension in cables by appropriate desired potential energy is considered and stability of the system is ensured by a Lyapunov candidate. simulation results illustrate the effectiveness of the proposed controller.",
"container_title": "2021 29th Iranian Conference on Electrical Engineering (ICEE)",
"publication_year": "2021",
"volume": "",
"issue": "",
"pages": "689--694",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2021-10-05",
"permalink": "robust-ida-pbc-for-a-spatial-underactuated-cable-driven-robot-with-bounded-inputs",
"references": [
{
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},
{
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2013.05.011"
},
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},
{
"identifiers": {
"doi": "10.1002/rnc.3615"
},
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},
{
"identifiers": {
"doi": "10.1109/tac.2018.2797191"
},
"citation": "Ryalat, M. & Laila, D. S. A Robust IDA-PBC Approach for Handling Uncertainties in Underactuated Mechanical Systems. IEEE Transactions on Automatic Control vol. 63 3495–3502 (2018)"
},
{
"identifiers": {
"doi": "10.1109/tac.2019.2949876"
},
"citation": "Donaire, A., Romero, J. G. & Ortega, R. Correction to the Paper “A Robust IDA-PBC Approach for Handling Uncertainties in Underactuated Mechanical Systems” [Oct 18 3495-3502]. IEEE Transactions on Automatic Control vol. 65 3223–3226 (2020)"
},
{
"identifiers": {},
"citation": "harandi, Stabi-lization of cable driven robots using interconnection matrix: Ensuring positive tension. 2019 7th International Conference on Robotics and Mechatronics (ICRoM) (0)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2005.1583500"
},
"citation": "Santibanez, V., Kelly, R. & Sandoval, J. Control of the Inertia Wheel Pendulum by Bounded Torques. Proceedings of the 44th IEEE Conference on Decision and Control 8266–8270 doi:10.1109/cdc.2005.1583500"
},
{
"identifiers": {
"doi": "10.1109/icee.2018.8472612"
},
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{
"identifiers": {
"doi": "10.1109/tac.2006.890321"
},
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},
{
"identifiers": {
"doi": "10.1109/iccia49288.2019.9030886"
},
"citation": "Khalilpour, S. A., Khorrambakht, R., Harandi, M. J., Taghirad, H. D. & Cardou, P. Cascade Terminal Sliding Mode Control of a Deployable Cable Driven Robot. 2019 6th International Conference on Control, Instrumentation and Automation (ICCIA) 1–6 (2019) doi:10.1109/iccia49288.2019.9030886"
},
{
"identifiers": {
"doi": "10.1109/tro.2007.892224"
},
"citation": "Zavala-Rio, A. & Santibanez, V. A Natural Saturating Extension of the PD-With-Desired-Gravity-Compensation Control Law for Robot Manipulators With Bounded Inputs. IEEE Transactions on Robotics vol. 23 386–391 (2007)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Systems vol. 21 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1109/pedstc.2019.8697267"
},
"citation": "Harandi, M. J., Ghaseminejad Liasi, S., Nikravesh, E. & Bina, M. T. An Improved Control Strategy for DFIG Low Voltage Ride-Through Using Optimal Demagnetizing method. 2019 10th International Power Electronics, Drive Systems and Technologies Conference (PEDSTC) 464–469 (2019) doi:10.1109/pedstc.2019.8697267"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
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},
{
"identifiers": {
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},
{
"identifiers": {},
"citation": "harandi, Motion control of an underactu-ated parallel robot with first order nonholonomic constraint. 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) (0)"
},
{
"identifiers": {
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},
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{
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{
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},
{
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},
{
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},
{
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},
{
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"doi": "10.1109/iceeac61226.2024.10576458"
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"type": "proceedings-article",
"title": "Improving the Scalar Control of Induction Motor Using Passivity Based Control",
"authors": [
{
"given": "Kamel",
"family": "Baazouzi",
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"name": "Institut of sciences University Center of Barika,Department of sciences and technology,Batna,Algeria,05001"
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"name": "Higher National School of Renewable Energy,Environment and Sustainable Development,Department of Renewable energy,Batna,Algeria,05078"
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"given": "Larbi",
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"name": "University of Picardie Jules verne,Laboratory of Innovative technology (LTI),Cuffies-Soissons,France"
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"abstract": "This paper deals with the improvement of the induction motor scalar control. All controllers are designed by Passivity Based Control (PBC) and the state variables are flux and speed of the machine. The control law was deducted using the Port Controlled Hamiltonian (PCH) model, and the stability is proven by using Lyapunov theory. The effectivity and robustness of the proposed control scheme are validated by simulations and experimental tests using dSPACE-DSII04 system",
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{
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{
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"id": "99205988-ec7a-576a-bc6b-a8aa1e05aba8",
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"doi": "10.1109/iceee2019.2019.00047"
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"type": "proceedings-article",
"title": "Discrete-Time I&I Adaptive Control for a Class of Uncertain Port-Controlled Hamiltonian Systems",
"authors": [
{
"given": "Mohammed",
"family": "Alkrunz",
"literal": null,
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{
"given": "Yaprak",
"family": "Yalcin",
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"abstract": "In this paper, we presented a discrete-time adaptive Passivity Based Control (PBC) for linearly parametrized port-controlled Hamiltonian systems with additive uncertainty. For the parameter estimation we exploited the Immersion and Invariance approach to achieve an automatic tuning for the designed PBC controller. The locally asymptotic stability of the closed loop system under PBC control with proposed parameter estimator is shown using Lyapunov theory. Simulations are carried out to test performance of proposed adaptive control method. Results illustrates that the estimator successfully estimates the uncertain parameters and the PBC utilizing this parameters stabilizes the closed loop system and preserve the performance of certainty equivalent controller.",
"container_title": "2019 6th International Conference on Electrical and Electronics Engineering (ICEEE)",
"publication_year": "2019",
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"issue": "",
"pages": "207--214",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2019-08-13",
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{
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{
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{
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{
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},
{
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{
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}
]
},
{
"id": "7503cbda-f119-544c-9303-2e9b4df33524",
"identifiers": {
"doi": "10.1109/iceice.2011.5777653"
},
"type": "proceedings-article",
"title": "Bounded passivity-based control of wind turbine with doubly fed induction generator",
"authors": [
{
"given": null,
"family": "Bing Wang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": null,
"family": "Yanping Qian",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": null,
"family": "Jin Zhu",
"literal": null,
"source_fields": {
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],
"abstract": "In this paper, the bounded passivity-based controller is proposed for the wind turbine with doubly fed induction generator (DFIG), such that the closed-loop system achieves the asymptotically stability under the arbitrarily bounded control. At first, the Hamiltonian energy function is constructed according to the system model. Then, the model of wind turbine is transformed into the port-controlled Hamiltonian (PCH) system. Next, the bounded passivity-based controller is designed based on passivity theorems. Finally, in order to illustrate the effectiveness of the bounded passivity-based control, the simulations are performed.",
"container_title": "2011 International Conference on Electric Information and Control Engineering",
"publication_year": "2011",
"volume": "",
"issue": "",
"pages": "209--212",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2011-05-27",
"permalink": "bounded-passivity-based-control-of-wind-turbine-with-doubly-fed-induction-generator",
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{
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{
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{
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"identifiers": {
"doi": "10.1109/icems.2005.202808"
},
"type": "proceedings-article",
"title": "Energy-Shaping Control of PM Synchronous Motor Based on Hamiltonian System Theory",
"authors": [
{
"given": null,
"family": "Haisheng Yu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": null,
"family": "Hailiang Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": null,
"family": "Keyou Zhao",
"literal": null,
"source_fields": {
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}
}
],
"abstract": "A novel speed control method of permanent magnet synchronous motor (PMSM) is developed when load torque is known and unknown. A PCH model of PMSM is established based on the theory of port-controlled Hamiltonian (PCH) systems with dissipation. The nonlinear controller is designed by the way of energy shaping method. The load torque observer is added to estimate the unknown load torque. The equilibrium stability of the closed-loop system is also verified. The simulation results show that the proposed scheme exhibits good performances in presence of load disturbances",
"container_title": "2005 International Conference on Electrical Machines and Systems",
"publication_year": "2005",
"volume": "",
"issue": "",
"pages": "1549--1553",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2008-02-06",
"permalink": "energy-shaping-control-of-pm-synchronous-motor-based-on-hamiltonian-system-theory",
"references": [
{
"identifiers": {
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{
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{
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{
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},
{
"identifiers": {
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},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1109/87.960344"
},
"citation": "Petrovic, V., Ortega, R. & Stankovi, A. M. Interconnection and damping assignment approach to control of PM synchronous motors. IEEE Trans. Contr. Syst. Technol. 9, 811–820 (2001)"
},
{
"identifiers": {},
"citation": "(0)"
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{
"identifiers": {
"doi": "10.23919/acc.2004.1383580"
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"citation": "Delaleau, E. & Stankovic, A. M. Flatness-based hierarchical control of the PM synchronous motor. Proceedings of the 2004 American Control Conference 65–70 vol.1 (2004) doi:10.23919/acc.2004.1383580"
},
{
"identifiers": {},
"citation": "tang, Modern permanent magnet machines - theory and design (1997)"
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"id": "4a6cb383-b2fe-573e-b2f2-55490909861f",
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"doi": "10.1109/icems.2011.6073427"
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"type": "proceedings-article",
"title": "Study on a nonlinear control strategy for three-phase voltage sources PWM DC/AC inverter based on PCH model",
"authors": [
{
"given": "Xiaobin",
"family": "Mu",
"literal": null,
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}
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{
"given": "Jiuhe",
"family": "Wang",
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{
"given": "Hao",
"family": "Xiang",
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{
"given": "Yuling",
"family": "Ma",
"literal": null,
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{
"given": "Dongying",
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"abstract": "The mathematical model of Three-phase voltage sources Pulse Width Modulation (PWM) DC/AC inverter is nonlinear, in view of the traditional linear control strategy can not meet the requirements of designing high-performance inverter. What's more, when the loads will be not pure resistive load, the inverter further requires controller possess high-performance. This paper proposes a nonlinear control strategy for the inverter called Passivity-based Control. We can alter the inverter model in three-phase abc coordinate to two-phase synchronous rotating dq coordinate for establishing the Port Control Hamiltonian (PCHD) model for this system. We can control the distribution of energy in the system to achieve the control aim. Simulation results show that passivity-based control method can make this system possess the high-performance of robustness and dynamic.",
"container_title": "2011 International Conference on Electrical Machines and Systems",
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"pages": "1--4",
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{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
"citation": "dazhong, Linear System Theory. (2002)"
},
{
"identifiers": {},
"citation": "jiuhe, The nonlinear control for the voltage source PWM rectifier. (2008)"
},
{
"identifiers": {},
"citation": "jiuhe, Control Strategy of Three-Phase AC/DC Voltage-Source Converters Based on Storage function. 2008 Workshop on Power Electronics and Intelligent Transportation System (0)"
},
{
"identifiers": {
"doi": "10.1016/j.simpat.2008.02.012"
},
"citation": "Donaire, A. & Junco, S. Energy shaping, interconnection and damping assignment, and integral control in the bond graph domain. Simulation Modelling Practice and Theory 17, 152–174 (2009)"
},
{
"identifiers": {},
"citation": "xiaobin, Passivity-Based of Photovoltaic Grid-Connected Inverter Based on Nonlinear Current Control Strategy. Symposium on Power Electronics & Electrical Drives Proceedings (2011)"
}
]
},
{
"id": "55e7bd9a-5780-5c2d-987e-8e598572dcc6",
"identifiers": {
"doi": "10.1109/icesip46348.2019.8938388"
},
"type": "proceedings-article",
"title": "A Study of Passivity Based Controllers for Switched Electrical Network",
"authors": [
{
"given": "Kumari",
"family": "Shipra",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "S.N",
"family": "Sharma",
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}
},
{
"given": "Rakesh",
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"literal": null,
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}
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],
"abstract": "In this paper, energy-shaping theory-based passivity controller is designed for boost converter feeding constant power load. To regulate the average output voltage indirectly, Passivity based controllers namely Euler-Lagrange and Port-controlled Hamiltonian (PCH) controllers are implemented. Design of these controllers is carried out following an ‘energy shaping and damping injection’ scheme. A mathematical modeling of proposed system along with controllers is carried out under steady state condition. A Simulink model of boost converter rated for 20 W, 48V is developed and aforesaid passivity based controllers are implemented. Based on simulation study, performances of these controllers are investigated under various operating conditions. The robustness of the proposed controller is investigated against source and load variations.",
"container_title": "2019 IEEE 1st International Conference on Energy, Systems and Information Processing (ICESIP)",
"publication_year": "2019",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2020-01-03",
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},
{
"id": "56994cc9-db26-59b9-8565-ec9bb5d1b065",
"identifiers": {
"doi": "10.1109/ichqp61174.2024.10768730"
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"type": "proceedings-article",
"title": "MMC Circulating Current Suppression Strategy based on PCHD-SMC Control",
"authors": [
{
"given": "Ruoyu",
"family": "Deng",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Taiyuan University of Science and Technology,College of Electronic Information Engineering,Taiyuan,China"
}
]
}
},
{
"given": "Hongjie",
"family": "Li",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Taiyuan University of Science and Technology,College of Electronic Information Engineering,Taiyuan,China"
}
]
}
},
{
"given": "Lumeng",
"family": "Jia",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Taiyuan University of Science and Technology,College of Electronic Information Engineering,Taiyuan,China"
}
]
}
},
{
"given": "Xutao",
"family": "Li",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Taiyuan University of Science and Technology,College of Electronic Information Engineering,Taiyuan,China"
}
]
}
},
{
"given": "Jianfeng",
"family": "Du",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Taiyuan University of Science and Technology,College of Electronic Information Engineering,Taiyuan,China"
}
]
}
},
{
"given": "Anhong",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Taiyuan University of Science and Technology,College of Electronic Information Engineering,Taiyuan,China"
}
]
}
}
],
"abstract": "In view of the two-octave circulation problem in the operation of modular multilevel converter (MMC), the traditional control method can no longer meet the stability and dynamic response of the system. Combined with the nonlinearity and passivity of MMC, this paper proposes a passive sliding mode (Port-Controlled Hamiltonian with Dissipation-Sliding-Mode Control) (PCHD-SMC) control strategy under three working conditions: steady-state operation, active power abrupt change and grid-side voltage abrupt change. Firstly, the Euler-Lagrange (EL) model of the modular multilevel converter was constructed, and the generation mechanism of the internal circulation was analyzed. Secondly, the passivity of MMC is analyzed, and the passive controller based on the EL model is applied to the current inner loop control. Then, sliding mode control is introduced to solve the problem that passive control is too dependent on parameters, which increases the robustness of the system and realizes the suppression of the two-fold circulation component. Finally, a 23-level MMC inverter simulation model was built in MATLAB/Simulink to verify the effectiveness and reliability of the proposed strategy.",
"container_title": "2024 21st International Conference on Harmonics and Quality of Power (ICHQP)",
"publication_year": "2024",
"volume": "",
"issue": "",
"pages": "31--36",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2024-12-03",
"permalink": "mmc-circulating-current-suppression-strategy-based-on-pchd-smc-control",
"references": [
{
"identifiers": {
"doi": "10.1109/itnec52019.2021.9587076"
},
"citation": "Ming G, Xiaohong W, Linping W, Daliang W, Weicheng M, Dong Y (2021) Research on Improved Circulation Suppression Strategy of MMC Based on Quasi-PR Controller. 2021 IEEE 5th Information Technology,Networking,Electronic and Automation Control Conference (ITNEC) 106–10"
},
{
"identifiers": {},
"citation": "Fansen, MMC-BESS circulation suppression strategy based on virtual impedance and passive backstep control[J]. China Southern Power Grid Technology (2022)"
},
{
"identifiers": {
"doi": "10.1007/s00202-023-01902-7"
},
"citation": "Li S, Li P, Zheng Z, Huang T (2023) Fractional order sliding mode control for circulating current suppressing of MMC. Electr Eng 105(6):3791–3800. https://doi.org/10.1007/s00202-023-01902-"
},
{
"identifiers": {
"doi": "10.1007/s00202-023-01908-1"
},
"citation": "Gharaghani F, Asadi M (2023) Control of MMC-HVDC transmission system: a review on internal and external converter control under grid strength. Electr Eng 105(6):3861–3879. https://doi.org/10.1007/s00202-023-01908-"
},
{
"identifiers": {},
"citation": "Zixun, DC circulation balancing strategy of modular multilevel converter under unbalanced power grid[J]. Transactions of China Electrotechnical Society (2024)"
},
{
"identifiers": {
"doi": "10.1016/j.est.2023.108947"
},
"citation": "Yao F, Yang W, Shang J, An Q (2023) A novel capacitor voltage fluctuation suppression method for the low-frequency operating stage of MMC driven pumped storage system. Journal of Energy Storage 73:108947. https://doi.org/10.1016/j.est.2023.10894"
},
{
"identifiers": {},
"citation": "Jianwen, Low-voltage DC true bipolar operation scheme of MMC solid-state transformer based on circulation injection control[J]. Proceedings of the CSEE"
},
{
"identifiers": {
"doi": "10.23919/ccc58697.2023.10240490"
},
"citation": "Wang C, Ni H, Deng Y, Lou P, Yan W (2023) Unbalanced MMC Harmonic Circulation Suppression Based on PIR-VI Strategy. 2023 42nd Chinese Control Conference (CCC) 7064–707"
},
{
"identifiers": {},
"citation": "Wenhui, Mixed control strategy for injection and suppression of nine-sided MMC circulation[J]. Proceedings of the CSEE"
},
{
"identifiers": {
"doi": "10.1109/icpes53652.2021.9683845"
},
"citation": "Cheng T, Zhong J, Yang B, Wei Y, Xu J, Zhang Z (2021) Improved Circulation Suppression Strategy for MMC Considering Low Frequency Oscillation. 2021 11th International Conference on Power and Energy Systems (ICPES) 57–6"
},
{
"identifiers": {},
"citation": "Qiming, Passive sliding mode control strategy of power electronic transformer based on MMC under non-ideal conditions[J]. High Voltage Technology (2023)"
}
]
},
{
"id": "ef0297c3-975a-5c3f-910b-db5e6f366e42",
"identifiers": {
"doi": "10.1109/icicic.2006.499"
},
"type": "proceedings-article",
"title": "PMSM Control with Port-Controlled Hamiltonian Theory",
"authors": [
{
"given": null,
"family": "Jun Qiu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": null,
"family": "Guangzhou Zhao",
"literal": null,
"source_fields": {
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"affiliation": []
}
}
],
"abstract": "The goal of this paper is to control PMSM (permanent magnet synchronous motor) with PCH (port-controlled Hamiltonian) theory. PCH is a kind of nonlinear control method. Energy-shaping approach is the essence of passivity-based control. With the definition of generalized passive Hamiltonian system, the PCH structure of permanent magnet synchronous motor was given. By using the MTPA (maximum torque per ampere) control theory, the desired equilibrium was obtained. The nonlinear controller was designed by the way of energy shaping method. Finally the system's stability was analyzed by simulation. The controller has preferable robustness and fast response performance",
"container_title": "First International Conference on Innovative Computing, Information and Control - Volume I (ICICIC'06)",
"publication_year": "2006",
"volume": "3",
"issue": "",
"pages": "275--278",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2006-10-24",
"permalink": "pmsm-control-with-port-controlled-hamiltonian-theory",
"references": [
{
"identifiers": {},
"citation": "chuan, Permanent magnet synchronous AC motors intellectual control system. Modular Machine Tool & Automatic Manufacturing Technique (2004)"
},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
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},
{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1007/1-84628-577-1_13"
},
"citation": "Ortega, R., van der Schaft, A. J. & Maschke, B. M. Stabilization of port-controlled Hamiltonian systems via energy balancing. Lecture Notes in Control and Information Sciences 239–260 (1999) doi:10.1007/1-84628-577-1_13"
},
{
"identifiers": {},
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},
{
"identifiers": {
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},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {},
"citation": "zaifei, Overviews of AC Servo system and Its Advanced Control Strategies. Machine Tool & Hydraulics (2002)"
}
]
},
{
"id": "a86d92eb-00bf-56cd-ba28-4bbac32f3021",
"identifiers": {
"doi": "10.1109/icicta.2010.243"
},
"type": "proceedings-article",
"title": "Controllability and Observability of Bilinear Port-Controlled Hamiltonian Systems",
"authors": [
{
"given": "Yang",
"family": "Xia",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Ji",
"family": "Xingmin",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "A special kind of port-controlled bilinear Hamilton system is researched. The controllability distribution and observability codistribution of the kind of port-controlled bilinear Hamilton systems are disused by using differential geometric of nonlinear control system. Lie brackets between input vector field and control vector field, Lie derivative of output function along input vector field and control vector field are researed. At the same time, the controllability and observability of the port-controlled bilinear Hamilton systems are disused Lie brackets between input vector field and control vector field. Then the relation between the controllability and observability is studied. The equivalence condition of controllability and observability is given.",
"container_title": "2010 International Conference on Intelligent Computation Technology and Automation",
"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "1039--1042",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2010-08-02",
"permalink": "controllability-and-observability-of-bilinear-port-controlled-hamiltonian-systems",
"references": [
{
"identifiers": {
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},
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},
{
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{
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},
{
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},
{
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},
{
"identifiers": {
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},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {},
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},
{
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},
{
"identifiers": {
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},
{
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{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
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}
]
},
{
"id": "c2473455-4379-52f5-8f8a-e5445c5f3aeb",
"identifiers": {
"doi": "10.1109/iciea.2006.257375"
},
"type": "proceedings-article",
"title": "Three-Phase Power Converter Stabilization via Total Energy-Shaping",
"authors": [
{
"given": "J.",
"family": "Mendez",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Y.",
"family": "Garcia",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "M.T.",
"family": "Mata",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "The three-phase power converter mathematical model expressed in Park coordinate is represented in PCH (port controlled Hamiltonian) system form, which is able to manage so much constant load as variable; the controller design for the converter is carried out by the IDA-PBC (interconnection and damping assignment-passivity based control) technique, assigning to the closed loop dynamics to a desired energy function, modifying in a suitable form the interconnection and damping matrices. The control objectives are directed to maintain the DC regulation voltage at the output converter even with variable load, while the input power factor stays unitary; at the same time, the controller is robust to changes in the input voltage",
"container_title": "2006 1ST IEEE Conference on Industrial Electronics and Applications",
"publication_year": "2006",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2006-12-18",
"permalink": "three-phase-power-converter-stabilization-via-total-energy-shaping",
"references": [
{
"identifiers": {},
"citation": "ortega, Putting Energy Back in Control, IEEE Control Systems Magazine. Lecture notes (2001)"
},
{
"identifiers": {},
"citation": "ortega, Energy-Shaping of Port-Controlled Hamiltonian Systems by Interconnection. Proceedings of the 38th Conference on Decision and Control (1999)"
},
{
"identifiers": {
"doi": "10.1109/acc.1997.611933"
},
"citation": "Ortega, R., Jiang, Z. P. & Hill, D. J. Passivity-based control of nonlinear systems: a tutorial. Proceedings of the 1997 American Control Conference (Cat. No.97CH36041) 2633–2637 vol.5 (1997) doi:10.1109/acc.1997.611933"
},
{
"identifiers": {
"doi": "10.1109/87.960344"
},
"citation": "Petrovic, V., Ortega, R. & Stankovi, A. M. Interconnection and damping assignment approach to control of PM synchronous motors. IEEE Trans. Contr. Syst. Technol. 9, 811–820 (2001)"
},
{
"identifiers": {},
"citation": "escobar, On Nonlinear Control of Switching Power Electronics Systems. (1999)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
"citation": "batle, Control and Analysis of GSSA and VSS Models. European Sponsored Project Geoplex (2004)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2005.1582192"
},
"citation": "Batlle, C., Doria-Cerezo, A. & Fossas, E. IDA-PBC controller for a bidirectional power flow full-bridge rectifier. Proceedings of the 44th IEEE Conference on Decision and Control 422–426 doi:10.1109/cdc.2005.1582192"
},
{
"identifiers": {
"doi": "10.1109/isie.2001.931555"
},
"citation": "Rodriguez, H., Ortega, R. & Escobar, G. A new family of energy-based non-linear controllers for switched power converters. ISIE 2001. 2001 IEEE International Symposium on Industrial Electronics Proceedings (Cat. No.01TH8570) vol. 2 723–727"
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{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tpel.2002.802178"
},
"citation": "Xiaofen Shi & Chok-You Chan. Analysis and passivity-based control of zero-voltage-transition PWM converters. IEEE Trans. Power Electron. 17, 633–640 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tie.2004.831753"
},
"citation": "Lee, T.-S. Lagrangian Modeling and Passivity-Based Control of Three-Phase AC/DC Voltage-Source Converters. IEEE Trans. Ind. Electron. 51, 892–902 (2004)"
},
{
"identifiers": {},
"citation": "carrasco, Passivity-Based Controller for a Three Phase Synchronous Rectifier. IEEE IECON (2000)"
},
{
"identifiers": {
"doi": "10.1109/tcsi.2004.842881"
},
"citation": "Gaviria, C., Fossas, E. & Grino, R. Robust controller for a full-bridge rectifier using the IDA approach and GSSA modeling. IEEE Trans. Circuits Syst. I 52, 609–616 (2005)"
},
{
"identifiers": {},
"citation": "(0)"
},
{
"identifiers": {
"doi": "10.1109/87.930975"
},
"citation": "Escobar, G., Chevreau, D., Ortega, R. & Mendes, E. An adaptive passivity-based controller for a unity power factor rectifier. IEEE Trans. Contr. Syst. Technol. 9, 637–644 (2001)"
}
]
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"abstract": "This paper presents a novel control strategy for velocity tracking of Permanent Magnet Synchronous Machines (PMSM). The model of the machine is considered within the port-Hamiltonian framework and a control is designed using concepts of immersion and invariance (I&I) recently developed in the literature. The proposed controller ensures internal stability and output regulation, and it forces integral action on non-passive outputs.",
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"doi": "10.1109/87.960344"
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"citation": "Petrovic, V., Ortega, R. & Stankovi, A. M. Interconnection and damping assignment approach to control of PM synchronous motors. IEEE Trans. Contr. Syst. Technol. 9, 811–820 (2001)"
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"citation": "sarras, Constructive immersion and invariance stabilization for a class of underactuated mechanical systems. Proceeding of the 8th IFAC Symposium on Nonlinear Control Systems Bologna Italy 2010 (0)"
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"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 53, 2527–2542 (2008)"
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"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
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"doi": "10.1007/978-3-642-03196-0"
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"citation": "Duindam, V., Macchelli, A., Stramigioli, S. & Bruyninckx, H. Modeling and Control of Complex Physical Systems. (Springer Berlin Heidelberg, 2009). doi:10.1007/978-3-642-03196-0"
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"doi": "10.1137/s0363012996312039"
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"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
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"citation": "Batlle, C., Dòria-Cerezo, A., Espinosa-Pérez, G. & Ortega, R. Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples. Lecture Notes in Control and Information Sciences 157–169 doi:10.1007/978-3-540-73890-9_12"
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"doi": "10.1109/tac.2003.809820"
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"citation": "Astolfi, A. & Ortega, R. Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems. IEEE Trans. Automat. Contr. 48, 590–606 (2003)"
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"doi": "10.1007/978-1-84800-066-7"
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"citation": "Astolfi, A., Karagiannis, D. & Ortega, R. Nonlinear and Adaptive Control with Applications. Communications and Control Engineering (Springer London, 2008). doi:10.1007/978-1-84800-066-7"
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"citation": "Donaire, A. & Junco, S. On the addition of integral action to port-controlled Hamiltonian systems. Automatica 45, 1910–1916 (2009)"
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"given": "Baozeng",
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"abstract": "The paper studies this global output regulation of a class of two order Port-Controlled Hamiltonian Systems with mismatched disturbance by a composite control method. By combining the damping injection, the finite time disturbance observer (FTDO) and the coordinate transformation techniques together, the composite controller is developed. The novel idea is to design a coordinate transformation to address the mismatched disturbance estimation. By the Lyapunov function method, the system output asymptotically converges to zero in the presence of mismatched disturbance. An example of a permanent magnet synchronous motor with simulations shows the effectiveness of the method proposed.",
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{
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"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
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"doi": "10.1016/j.automatica.2014.05.031"
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{
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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{
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},
{
"identifiers": {
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"citation": "Donaire, A. & Junco, S. On the addition of integral action to port-controlled Hamiltonian systems. Automatica 45, 1910–1916 (2009)"
},
{
"identifiers": {
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},
{
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{
"identifiers": {
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{
"identifiers": {
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},
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"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
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"doi": "10.1080/00207170010010551"
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},
{
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{
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},
{
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"type": "proceedings-article",
"title": "The modeling and control of Buck-Boost converter based on energy-shaping theory",
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{
"given": null,
"family": "Yong Wang",
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{
"given": null,
"family": "Haisheng Yu",
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"given": null,
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"abstract": "The model and PWM controller of Buck-Boost converter are presented based on a novel energy-shaping theory. Firstly, a port-controlled Hamiltonian (PCH) model of Buck-Boost converter and its suitable state space averaging (SSA) model are established. Secondly, using the energy-shaping theory of interconnection and damping assignment passivity-based control (IDA-PBC) techniques, the feedback control theory of Buck-Boost converter is given. Then the desired equilibrium point of the system is obtained, and the stability of equilibrium point is analyzed. Finally the feedback controller is developed using energy-shaping theory for the SSA model of the PCH system. Furthermore, an integrator is added around the passive output preserving stability to avoid steady state errors induced by the presence of noise and modeling errors. Simulation results for the full system confirm the correctness and efficiency of the obtained controller.",
"container_title": "2008 IEEE International Conference on Industrial Technology",
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{
"identifiers": {
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{
"identifiers": {},
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{
"identifiers": {},
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},
{
"identifiers": {
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},
{
"identifiers": {},
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{
"identifiers": {},
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},
{
"identifiers": {},
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"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
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"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
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"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
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},
{
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"citation": "(0)"
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"identifiers": {
"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
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"title": "Non-linear control of a three-phase front end converter",
"authors": [
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"given": "F. M.",
"family": "Serra",
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"given": "C. H.",
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"given": "D. G.",
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"abstract": "The design of a non-linear controller for a three-phase front end converter used to connect renewable energy sources to the grid is presented in this paper. The objectives of this controller are the injection of all the generated power into the grid and the control of the reactive power exchanged with the power system. The system is represented through Park coordinates and port controlled Hamiltonian models. The controller is designed by interconnection and damping assignment (IDA), and feedback linearization (FL). It is demonstrated that for the particular case of selecting interconnection and damping matrixes, then coupling can be eliminated from the system model and therefore the controller designed using interconnection and damping assignment results the same as that using feedback linearization. The control strategy proposed in the present work is validated through simulation.",
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{
"identifiers": {
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{
"identifiers": {
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"identifiers": {
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{
"identifiers": {
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{
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{
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{
"identifiers": {
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},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
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{
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{
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{
"identifiers": {},
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"identifiers": {
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{
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"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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},
{
"identifiers": {
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}
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"doi": "10.1109/icma61710.2024.10632906"
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"type": "proceedings-article",
"title": "Research on Low Voltage Ride-through Control of Permanent Magnet Direct Drive Wind Turbine Generators during Grid Faults",
"authors": [
{
"given": "Jingjia",
"family": "Meng",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Harbin Electric International Company Limited,Harbin,China"
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}
}
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"abstract": "Low voltage ride-through (LVRT) mandates that wind turbines stay connected to the grid during voltage drops. To satisfy the LVRT criteria for permanent magnet direct-drive wind turbines, this paper proposes a control strategy involving an energy-dissipating circuit on the machine-side and reactive power compensation on the grid. The machine-side energy-dissipating circuit, known as the Braking Chopper (BC) circuit, is utilized, while grid-side reactive power compensation employs the Port-Controlled Hamiltonian Algorithm (PCH). When the grid voltage drops, the BC circuit absorbs excess power generated during the fault to maintain stability in the DC bus voltage, while the PCH provides reactive power compensation. Once the grid voltage returns to normal, the BC circuit is disconnected, and the PCH resumes normal grid-connected operation. Using Matlab/Simulink, a simulation model was constructed, and simulations were conducted. The results demonstrate that the control strategy proposed in this paper enables successful LVRT during symmetrical grid faults.",
"container_title": "2024 IEEE International Conference on Mechatronics and Automation (ICMA)",
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"issue": "",
"pages": "824--828",
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"created_date": "2024-08-19",
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"references": [
{
"identifiers": {
"doi": "10.1109/tim.2019.2930439"
},
"citation": "Jiang Z, Liu Y (2020) Low-Voltage Ride-Through Remote Testing Method for Offshore Wind Turbines. IEEE Trans Instrum Meas 69(6):2905–2913. https://doi.org/10.1109/tim.2019.293043"
},
{
"identifiers": {
"doi": "10.1109/tencon.2016.7848351"
},
"citation": "Dey P, Datta M, Fernando N, Senjyu T (2016) A method to reduce DC-link overvoltage of PMSG based WECS during LVRT. 2016 IEEE Region 10 Conference (TENCON"
},
{
"identifiers": {
"doi": "10.1049/iet-rpg.2014.0453"
},
"citation": "Yassin HM, Hanafy HH, Hallouda MM (2016) Enhancement low‐voltage ride through capability of permanent magnet synchronous generator‐based wind turbines using interval type‐2 fuzzy control. IET Renewable Power Gen 10(3):339–348. https://doi.org/10.1049/iet-rpg.2014.045"
},
{
"identifiers": {},
"citation": "Ji, Multi mode reactive power coordination control of storage-based direct-driven wind farm combined with STATCOM. Power Capacitor & Reactive Power Compensation (2019)"
},
{
"identifiers": {},
"citation": "Zhang, Comprehensive control strategy for improving low voltage ride through capability of permanent magnet synchronous generator. Power system protection and control (2017)"
},
{
"identifiers": {
"doi": "10.1504/ijied.2015.072826"
},
"citation": "Alhejji AK, Sayeh MR (2015) Dynamic neural network-observer-based adaptive inverse optimal control design for unknown nonlinear systems. IJIED 2(3):203. https://doi.org/10.1504/ijied.2015.07282"
},
{
"identifiers": {
"doi": "10.1063/1.4996405"
},
"citation": "Sagiraju DKV, Yeddulapeda O, Choppavarapu SB (2018) A new control approach to improve the dynamic performance and ride through capability of PMSG wind energy system. Journal of Renewable and Sustainable Energy 10(4). https://doi.org/10.1063/1.499640"
},
{
"identifiers": {},
"citation": "Liu, Research on low-voltage ride through capability of permanent magnetic synchronous offshore wind power based on supercapacitor energy storage. Power system protection and control (2018)"
},
{
"identifiers": {},
"citation": "Zhang, Research on predictive control strategies for direct-drive wind turbines under power grid fault. Electrical measurement & instrumentation (2022)"
},
{
"identifiers": {},
"citation": "Zhu, Research on PMSG wind power system based on adaptive VSG control strategy. Acta energiae solaris sinica (2024)"
}
]
},
{
"id": "435cb883-13f4-5216-a37b-692058ae839f",
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"doi": "10.1109/icmtma.2010.700"
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"type": "proceedings-article",
"title": "Controllability and Observablity of Nonlinear Port-Controlled Hamiltonian Systems",
"authors": [
{
"given": "Xingmin",
"family": "Ji",
"literal": null,
"source_fields": {
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}
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],
"abstract": "A special kind of nonlinear port-controlled Hamilton system is researched. The controllability distribution and observability codistribution of the kind of nonlinear port-controlled Hamilton systems are disused by using differential geometric of nonlinear control system. At the same time, the controllability and observability of the nonlinear port-controlled Hamilton systems are disused. Then the relation between the controllability and observability is studied.",
"container_title": "2010 International Conference on Measuring Technology and Mechatronics Automation",
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"issue": "",
"pages": "849--852",
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{
"identifiers": {
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},
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{
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{
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{
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{
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{
"identifiers": {
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{
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{
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{
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{
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},
{
"id": "4fd930fc-14b0-5177-9547-9f04bff490a5",
"identifiers": {
"doi": "10.1109/icome-ee64119.2024.10845313"
},
"type": "proceedings-article",
"title": "Enhanced Hamiltonian Control for Grid-Independent Three-Phase Inverters with LC Filters",
"authors": [
{
"given": "Mohamed",
"family": "Azzi",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Université de Lorraine,GREEN,Nancy,France,F54000"
}
]
}
},
{
"given": "Lotfi",
"family": "Baghli",
"literal": null,
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"affiliation": [
{
"name": "Université de Lorraine,GREEN,Nancy,France,F54000"
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{
"given": "Ehsan",
"family": "Jamshidpour",
"literal": null,
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"sequence": "additional",
"affiliation": [
{
"name": "Université de Lorraine,GREEN,Nancy,France,F54000"
}
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}
},
{
"given": "Noureddine",
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"literal": null,
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"affiliation": [
{
"name": "Université de Lorraine,GREEN,Nancy,France,F54000"
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"given": "Thong-In",
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"name": "King Mongkut’s University of Technology North Bangkok,Faculty of Technical Education,Bangkok,Thailand"
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{
"given": "Phatiphat",
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"name": "King Mongkut’s University of Technology North Bangkok,Faculty of Technical Education,Bangkok,Thailand"
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"abstract": "This paper introduces a novel control strategy for a voltage source inverter (VSI) within a microgrid environment, using the port-controlled Hamiltonian (PCH) system framework. This approach simplifies the management of dynamic performance and convergence challenges that arise during interactions between power sources and constant power loads in the microgrid. The strategy leverages the passivity properties of system components, which play a crucial role in ensuring overall microgrid stability. To validate the proposed control method, a 3-phase inverter is implemented and tested in a laboratory setting using a Micro-LabBox controller board on the dSPACE platform. The control algorithm is digitally executed, and its effectiveness is demonstrated through both MATLAB/Simulink simulations and experimental results. The control strategy exhibits excellent performance during highly dynamic power-load cycles, making it a valuable solution for microgrid applications.",
"container_title": "2024 International Conference on Materials and Energy: Energy in Electrical Engineering (ICOME-EE)",
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"pages": "1--4",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2025-01-23",
"permalink": "enhanced-hamiltonian-control-for-grid-independent-three-phase-inverters-with-lc-filters",
"references": [
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.3390/su13148093"
},
"citation": "Thounthong P, Mungporn P, Nahid-Mobarakeh B, Bizon N, Pierfederici S, Guilbert D (2021) Improved Adaptive Hamiltonian Control Law for Constant Power Load Stability Issue in DC Microgrid: Case Study for Multiphase Interleaved Fuel Cell Boost Converter. Sustainability 13(14):8093. https://doi.org/10.3390/su1314809"
}
]
},
{
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"doi": "10.1109/icpe64565.2024.10929292"
},
"type": "proceedings-article",
"title": "Port-Hamiltonian System Modelling and Geometric Numerical Integrator for Synchronous Generators",
"authors": [
{
"given": "Xinhua",
"family": "Yan",
"literal": null,
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"affiliation": [
{
"name": "Xi’an Jiaotong University,School of Electrical Engineering,Xi’an,China"
}
]
}
},
{
"given": "Chongtao",
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"name": "Xi’an Jiaotong University,School of Electrical Engineering,Xi’an,China"
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{
"given": "Chao",
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"literal": null,
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"affiliation": [
{
"name": "Xi’an Jiaotong University,School of Electrical Engineering,Xi’an,China"
}
]
}
}
],
"abstract": "Electromagnetic transient (EMT) simulation is of fundamental importance for the design and operation of modern power systems. The solution of EMT models relies on numerical integration methods whose performance depends on the structure, scale, and stiffness of the system models. In this paper, we develop a synchronous generator model that maintains the underlying physical structure. In particular, a synchronous generator is represented as the interconnection of energy storage ports, dissipation ports, and external ports, leading to a canonical port-Hamiltonian system formulation. By exploiting the port-Hamiltonian structure, we introduce an energy-related invariant quantity for the developed model and construct a geometric numerical integrator based on the discrete gradient. This geometric numerical integrator can exactly maintain the energy-related invariant in the discrete-time solution. Numerical experiments verify the energy-preserving property of the proposed geometric. Comparative analysis with the Runge-Kutta method and the implicit trapezoidal method shows that, the energy-preserving geometric numerical integrator has better long-term numerical stability and accuracy especially at relatively large integration steps.",
"container_title": "2024 5th International Conference on Power Engineering (ICPE)",
"publication_year": "2024",
"volume": "",
"issue": "",
"pages": "185--189",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2025-03-26",
"permalink": "port-hamiltonian-system-modelling-and-geometric-numerical-integrator-for-synchronous-generators",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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{
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},
{
"identifiers": {
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{
"identifiers": {
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{
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},
{
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},
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},
{
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]
},
{
"id": "5180c4be-d2bc-52aa-b971-d15ff70a70c2",
"identifiers": {
"doi": "10.1109/icra.2011.5980053"
},
"type": "proceedings-article",
"title": "Port-based modeling and control of underactuated aerial vehicles",
"authors": [
{
"given": "Abeje Y.",
"family": "Mersha",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Raffaella",
"family": "Carloni",
"literal": null,
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"affiliation": []
}
},
{
"given": "Stefano",
"family": "Stramigioli",
"literal": null,
"source_fields": {
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"abstract": "In this paper, we propose a generic model and a controller design for a class of underactuated aerial vehicles, namely for unmanned aerial vehicles whose primary support against gravity is thrust. The approach followed is based on energetic consideration and uses the formalisms of port-Hamiltonian systems and bond graphs. The controller is designed for both stabilization during hovering and for trajectory tracking tasks. The competency of the model and the performance of the controller are validated in simulation.",
"container_title": "2011 IEEE International Conference on Robotics and Automation",
"publication_year": "2011",
"volume": "",
"issue": "",
"pages": "14--19",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2011-08-16",
"permalink": "port-based-modeling-and-control-of-underactuated-aerial-vehicles",
"references": [
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
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},
{
"identifiers": {
"doi": "10.1007/978-3-642-03196-0"
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},
{
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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{
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},
{
"identifiers": {
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}
]
},
{
"id": "01381fb4-6c5f-55f9-9352-1a2c93b0af01",
"identifiers": {
"doi": "10.1109/icra.2014.6907050"
},
"type": "proceedings-article",
"title": "Contact dynamics of massage compliant robotic arm and its coupled stability",
"authors": [
{
"given": "Yuancan",
"family": "Huang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Philippe",
"family": "Soueres",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Jian",
"family": "Li",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In this paper, contact dynamics of robot massage is described by the port-Hamiltonian modelling approach. In order to capture accurately the inherent characteristics of the human body in lumped-parameter manners, the conventional linear Kelvin-Voigt models are replaced by the nonlinear Hunt-Crossley models. As an application of the contact dynamics, coupled stability of compliant robotic arm with impedance control is theoretically analyzed from energetic viewpoints. Experiments are done to verify the massage stability. The proposed contact dynamics evidently has great potential on performance improvement of robot massage, which will be our research subject.",
"container_title": "2014 IEEE International Conference on Robotics and Automation (ICRA)",
"publication_year": "2014",
"volume": "",
"issue": "",
"pages": "1499--1504",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2014-09-30",
"permalink": "contact-dynamics-of-massage-compliant-robotic-arm-and-its-coupled-stability",
"references": [
{
"identifiers": {
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},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1177/0278364907073776"
},
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},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
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},
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{
"identifiers": {
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{
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},
{
"identifiers": {
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"title": "Port-Hamiltonian based control for human-robot team interaction",
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{
"given": "Martin",
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"abstract": "In this paper we consider the problem in which the human commands the overall behavior of a robot team while the robots are controlled to comply with formation constraints. Such human-robot team interaction is challenging in terms of system complexity and control synthesis. Port-Hamiltonian framework is suitable for modeling the interconnected systems. In this paper we model the robotic team, cooperatively manipulating an object, as a constrained port-Hamiltonian system. Furthermore, we propose a passivity-based control approach in the port-Hamiltonian framework for the cooperative manipulation system guided by the human. The control mechanism is based on the energy shaping for achieving a desired behavior of the formation and its preservation. An energy tank in the cascade is introduced to guarantee passivity of the system commanded by the human and safe interaction with humans in the robot environment. We validate the proposed approach with simulation and experiments.",
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"title": "Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor: A Geometric Port-Hamiltonian Approach",
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"given": "Ramy",
"family": "Rashad",
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"given": "Johan B. C.",
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"abstract": "In this work, we show how the interactive behavior of an aerial robot can be modeled and controlled effectively and elegantly in the port-Hamiltonian framework. We present an observer-based wrench/impedance controller for a fully-actuated hexarotor. The analysis and control are performed in a geometrically consistent manner on the configuration manifold of the special Euclidean group SE (3) such that the UAV’s nonlinear geometric structure is exploited. The controller uses a wrench observer to estimate the interaction wrench without the use of a force/torque sensor. Moreover, the concept of energy tanks is used to guarantee the system’s overall contact stability to arbitrary passive environments. The reliability and robustness of the proposed approach is validated through simulation and experiment.",
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"doi": "10.1109/icra40945.2020.9196598"
},
"type": "proceedings-article",
"title": "Interconnection and Damping Assignment Passivity-Based Control for Gait Generation in Underactuated Compass-Like Robots",
"authors": [
{
"given": "Pierluigi",
"family": "Arpenti",
"literal": null,
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{
"given": "Fabio",
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"abstract": "A compass-like biped robot can go down a gentle slope without the need of actuation through a proper choice of its dynamic parameter and starting from a suitable initial condition. Addition of control actions is requested to generate additional gaits and robustify the existing one. This paper designs an interconnection and damping assignment passivity-based control, rooted within the port-Hamiltonian framework, to generate further gaits with respect to state-of-the-art methodologies, enlarge the basin of attraction of existing gaits, and further robustify the system against controller discretization and parametric uncertainties. The performance of the proposed algorithm is validated through numerical simulations and comparison with existing passivity-based techniques.",
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}
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"id": "26a403df-8fd4-5d6b-ad75-20381b8cd3c7",
"identifiers": {
"doi": "10.1109/icra48891.2023.10161328"
},
"type": "proceedings-article",
"title": "LEMURS: Learning Distributed Multi-Robot Interactions",
"authors": [
{
"given": "Eduardo",
"family": "Sebastián",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "RoPeRt group, at DIIS - I3A, Universidad de Zaragoza,Spain"
}
]
}
},
{
"given": "Thai",
"family": "Duong",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"
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},
{
"given": "Nikolay",
"family": "Atanasov",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "University of California San Diego,Department of Electrical and Computer Engineering,La Jolla,CA,USA,92093"
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}
},
{
"given": "Eduardo",
"family": "Montijano",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "RoPeRt group, at DIIS - I3A, Universidad de Zaragoza,Spain"
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},
{
"given": "Carlos",
"family": "Sagüés",
"literal": null,
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"affiliation": [
{
"name": "RoPeRt group, at DIIS - I3A, Universidad de Zaragoza,Spain"
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"abstract": "This paper presents LEMURS, an algorithm for learning scalable multi-robot control policies from cooperative task demonstrations. We propose a port-Hamiltonian description of the multi-robot system to exploit universal physical constraints in interconnected systems and achieve closed-loop stability. We represent a multi-robot control policy using an architecture that combines self-attention mechanisms and neural ordinary differential equations. The former handles time-varying communication in the robot team, while the latter respects the continuous-time robot dynamics. Our representation is distributed by construction, enabling the learned control policies to be deployed in robot teams of different sizes. We demonstrate that LEMURS can learn interactions and cooperative behaviors from demonstrations of multi-agent navigation and flocking tasks.",
"container_title": "2023 IEEE International Conference on Robotics and Automation (ICRA)",
"publication_year": "2023",
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"issue": "",
"pages": "7713--7719",
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"abstract": "Navigating in human-filled public spaces is a critical challenge for deploying autonomous robots in real-world environments. This paper introduces NaviDIFF, a novel Hamiltonian-constrained socially-aware navigation framework designed to address the complexities of human-robot interaction and socially-aware path planning. NaviDIFF integrates a port-Hamiltonian framework to model dynamic physical interactions and a diffusion model to manage uncertainty in human-robot cooperation. The framework leverages a spatial-temporal transformer to capture social and temporal dependencies, enabling more accurate spatial-temporal environmental dynamics understanding and port-Hamiltonian physical interactive process construction. Additionally, reinforcement learning from human feedback is employed to fine-tune robot policies, ensuring adaptation to human preferences and social norms. Extensive experiments demonstrate that NaviDIFF outperforms state-of-the-art methods in social navigation tasks, offering improved stability, efficiency, and adaptability11The experimental videos and additional information about this work can be found at: https://sites.google.com/view/NaviDIFF.",
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{
"given": "M.",
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"abstract": "This paper proposes an Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) to ensure accurate power sharing in islanded Micro-Grids (MG). This energy control approach is chosen for its proprieties that allow the synthesis of robust control laws that guarantee the whole system stability. For this aim, the power system circuit and the classical droop control are firstly presented in Port Controlled Hamiltonian (PCH) form. Then voltage and droop controllers design methodology is detailed. The validity of this control configuration is verified through simulation results.",
"container_title": "2018 7th International Conference on Renewable Energy Research and Applications (ICRERA)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "1157--1161",
"publisher": "IEEE",
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"created_date": "2018-12-12",
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"references": [
{
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},
{
"identifiers": {
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{
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},
{
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},
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{
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{
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},
{
"identifiers": {
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{
"identifiers": {
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{
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},
{
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{
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{
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{
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{
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},
{
"identifiers": {
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},
"citation": "Yallamilli, R. S. & Mishra, M. K. Power management of grid connected hybrid microgrid with dual voltage source inverter. 2016 IEEE International Conference on Renewable Energy Research and Applications (ICRERA) 407–412 (2016) doi:10.1109/icrera.2016.7884370"
},
{
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{
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{
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},
{
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
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}
]
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"doi": "10.1109/icsee.2018.8646017"
},
"type": "proceedings-article",
"title": "The stability of a synchronous generator with a prime mover connected to a resistive load",
"authors": [
{
"given": "Zeev",
"family": "Kustanovich",
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{
"given": "George",
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"abstract": "We present the stability analysis of a system which contains a synchronous generator (SG) with its prime mover and a resistive load. Inductive transmission lines connect between these. The model of the SG and its prime mover includes a frequency droop loop that acts through the prime mover and its governor, with its own dynamics. The SG model takes into account the variation of the inductances with the rotor angle. We derive a mathematical model of the system that takes into account a simplified model of the damper windings and is a fifth order nonlinear system. We present sufficient conditions on the model’s parameters to insure local stability for the system. We strive to find sufficient conditions that are easy to verify. We use Lyapunov functions and the port-Hamiltonian representation.",
"container_title": "2018 IEEE International Conference on the Science of Electrical Engineering in Israel (ICSEE)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "1--5",
"publisher": "IEEE",
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"created_date": "2019-02-21",
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"references": [
{
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{
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{
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{
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{
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{
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},
{
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{
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{
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{
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{
"identifiers": {
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{
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{
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{
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{
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},
{
"identifiers": {
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},
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{
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}
]
},
{
"id": "ad7dfb77-80ae-594b-a78d-5476f0b5656f",
"identifiers": {
"doi": "10.1109/icsens.2017.8233917"
},
"type": "proceedings-article",
"title": "Port hamiltonian formulation of a memristive switch circuit represented in bond graph",
"authors": [
{
"given": "Israa Badr Nasser",
"family": "Al-Mashhadani",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Sillas",
"family": "Hadjiloucas",
"literal": null,
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"abstract": "Under the Internet of Things initiative, networks are designed to incorporate both sensing as well as switching/control action. The need for control action may arise in different physical domains. Bond graphs are a useful tool which provides modeling of multiple processes that simultaneously take place in different physical domains. The current work discusses the need to develop mathematical models of the dynamics associated with non-linear sensing and actuation processes that may take place in several physical domains. As many control solutions are designed in state space, Input-State-Output Port-Hamiltonian (ISO PHS) formulations are the best tool to describe the associated dynamics of the elements in a network. Non-linear switching action can be emulated using memristive devices. This contribution, therefore, focusses on translating bond graph representations accounting for energy exchange across different ports in a network, where the transduction processes take place in a multitude of physical domains. As an example, the ISO PHS of a bond graph of a memristive element embedded in a simple switch circuit is presented. The work is of general interest to the sensors community and has applications in the design of sensor networks.",
"container_title": "2017 IEEE SENSORS",
"publication_year": "2017",
"volume": "",
"issue": "",
"pages": "1--3",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-01-02",
"permalink": "port-hamiltonian-formulation-of-a-memristive-switch-circuit-represented-in-bond-graph",
"references": [
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
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{
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{
"identifiers": {},
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{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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}
]
},
{
"id": "3cdc6b3a-88ae-5541-99c2-a18b3ac63c42",
"identifiers": {
"doi": "10.1109/icstcc.2015.7321361"
},
"type": "proceedings-article",
"title": "Efficient energy management for an elevator system under a constrained optimization framework",
"authors": [
{
"given": "Thanh Hung",
"family": "Pham",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Ionela",
"family": "Prodan",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Denis",
"family": "Genon-Catalot",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Laurent",
"family": "Lefevre",
"literal": null,
"source_fields": {
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"affiliation": []
}
}
],
"abstract": "This paper addresses the challenging energy management problem of a DC-microgrid elevator system using a coherent combination between port-Hamiltonian approach for physical system modeling, differential flatness for profiles generation and predictive control for taking into account constraints, optimization costs and reference profiles. The microgrid connected to a three-phase utility grid includes a mechanical part, a Salient Permanent Magnet Synchronous Machine (SPMSM), an energy storage unit, a super-capacitor, a solar panel (PV) generation unit as well as the corresponding converters to DC-links. We will concentrate here on the microgrid's mechanical part connected to the synchronous machine. More precisely, a constrained predictive control combined with differential flatness is employed for efficiently manage the dissipative energy. First, optimal profiles of both the stator currents and rotor speed are provided using flat trajectory generation. Next, a constrained Model Predictive Control (MPC) optimization problem is formulated in order to satisfy the a priori given profiles. Comparison and simulation results validate the benefits of the proposed approach.",
"container_title": "2015 19th International Conference on System Theory, Control and Computing (ICSTCC)",
"publication_year": "2015",
"volume": "",
"issue": "",
"pages": "",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2015-11-09",
"permalink": "efficient-energy-management-for-an-elevator-system-under-a-constrained-optimization-framework",
"references": [
{
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},
{
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},
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},
{
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},
{
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{
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{
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{
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},
{
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},
{
"identifiers": {
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},
"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. FnT in Systems and Control 1, 173–378 (2014)"
},
{
"identifiers": {
"doi": "10.1109/iecon.2014.7049147"
},
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{
"identifiers": {
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{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tcst.2013.2278408"
},
"citation": "Chen, K.-Y., Huang, M.-S. & Fung, R.-F. Adaptive Minimum-Energy Tracking Control for the Mechatronic Elevator System. IEEE Trans. Contr. Syst. Technol. 25, 1790–1799 (2017)"
},
{
"identifiers": {
"doi": "10.1109/optim.2014.6850966"
},
"citation": "Vittek, J., Bris, P., Butko, P. & Fedor, T. Energy saving position control of PMSM drives with constant, linear and quadratic frictions. 2014 International Conference on Optimization of Electrical and Electronic Equipment (OPTIM) 239–244 (2014) doi:10.1109/optim.2014.6850966"
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"doi": "10.1109/tcst.2013.2295737"
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"citation": "Parisio, A., Rikos, E. & Glielmo, L. A Model Predictive Control Approach to Microgrid Operation Optimization. IEEE Trans. Contr. Syst. Technol. 22, 1813–1827 (2014)"
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{
"identifiers": {
"doi": "10.1016/j.ijepes.2014.03.017"
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"citation": "Prodan, I. & Zio, E. A model predictive control framework for reliable microgrid energy management. International Journal of Electrical Power & Energy Systems 61, 399–409 (2014)"
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"title": "Structural identifiability of linear lossy Port Controlled Hamiltonian systems",
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"given": "Ciprian",
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"abstract": "The structural identifiability analysis of linear lossy Port Controlled Hamiltonian(PCH) systems is proposed in this paper, by means of the observability and controllability concepts, which characterize a dynamic system. A general result is proved and proposed for the observability of linear lossy PCH systems. As example for the structural identifiability analysis, a DC motor is considered.",
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{
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{
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{
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{
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{
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{
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{
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"identifiers": {
"doi": "10.1109/icuas65942.2025.11007912"
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"type": "proceedings-article",
"title": "Optimal Control of Dual Arm Manipulation for Flapping-Wing Robots in the Post-Perching Phase",
"authors": [
{
"given": "Sahar Sadeghi",
"family": "Kordkheili",
"literal": null,
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"affiliation": [
{
"name": "Escuela Técnica Superior de Ingeniería, Universidad de Sevilla,GRVC Robotics Lab,Departamento de Ingeniería de Sistemas y Automática,Seville,Spain"
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}
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{
"given": "Antonio",
"family": "Gonzalez-Morgado",
"literal": null,
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{
"name": "Escuela Técnica Superior de Ingeniería, Universidad de Sevilla,GRVC Robotics Lab,Departamento de Ingeniería de Sistemas y Automática,Seville,Spain"
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}
},
{
"given": "Saeed Rafee",
"family": "Nekoo",
"literal": null,
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"affiliation": [
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"name": "Escuela Técnica Superior de Ingeniería, Universidad de Sevilla,GRVC Robotics Lab,Departamento de Ingeniería de Sistemas y Automática,Seville,Spain"
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}
},
{
"given": "Begoña C.",
"family": "Arrue",
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"name": "Escuela Técnica Superior de Ingeniería, Universidad de Sevilla,GRVC Robotics Lab,Departamento de Ingeniería de Sistemas y Automática,Seville,Spain"
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"given": "Anibal",
"family": "Ollero",
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"name": "Escuela Técnica Superior de Ingeniería, Universidad de Sevilla,GRVC Robotics Lab,Departamento de Ingeniería de Sistemas y Automática,Seville,Spain"
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"abstract": "This work investigates cooperative dual-arm manipulation between two ornithopters in the post-perching phase. Flapping wing aerial systems are lightweight platforms designed to imitate bird flight, suitable for environmental monitoring tasks. When interacting with their environment, these systems must be able to perch on a branch as an initial step, followed by adjusting their position to achieve the desired pose and workspace. This research explores the application of a Port-Hamiltonian-based control method for designing and analysing controllers in cooperative manipulation by two ornithopters during the post-perching phase. The connection of end effectors while holding an object adds complexity and constraints to the problem. To address this, an energy-based approach using Optimal Port-Hamiltonian control and Optimal Load Distribution (OLD) is employed to evenly distribute the load between the arms. The effectiveness and advantages of this method are demonstrated through the defined scenario in which an optimal control law is implemented to derive an efficient trajectory for cooperative manipulation while tracking the desired elliptical path.",
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"issue": "",
"pages": "155--161",
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{
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},
{
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{
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},
{
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},
{
"identifiers": {
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{
"identifiers": {
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},
{
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},
{
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},
{
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{
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{
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{
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{
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{
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},
{
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},
{
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},
{
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},
{
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},
{
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{
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},
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{
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{
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{
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},
{
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{
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{
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{
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}
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"doi": "10.1109/iecon.2006.348145"
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"type": "proceedings-article",
"title": "Modeling of Automotive Control Systems Using Power Oriented Graphs",
"authors": [
{
"given": "Riccardo",
"family": "Morselli",
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"given": "Roberto",
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"abstract": "The basic idea of the power-oriented graphs (POG) modeling technique is to use the power interaction between subsystems as basic concept for modeling. This approach is theoretically supported by the definition and the properties of the port-controlled Hamiltonian systems and allows the modeling of a wide variety of systems involving different energetic domains. Differently from the bond graphs technique, based on the same concept, the POG modeling technique solves explicitly the causality problem. By this way, the POG schemes are easily readable, close to the computer implementation and allow reliable simulations using every computer simulator. This paper introduces the properties of the POG technique and presents some examples related to automotive control systems",
"container_title": "IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics",
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"issue": "",
"pages": "5295--5300",
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"references": [
{
"identifiers": {},
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},
{
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},
{
"identifiers": {
"doi": "10.1109/cca.2002.1038775"
},
"citation": "Morselli, R., Corti, E. & Rizzoni, G. Energy based model of a common rail injector. Proceedings of the International Conference on Control Applications vol. 2 1195–1200"
},
{
"identifiers": {
"doi": "10.1109/itsc.2003.1252034"
},
"citation": "Morselli, R. et al. Dynamic modeling and control of electro-hydraulic wet clutches. Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems 660–665 doi:10.1109/itsc.2003.1252034"
},
{
"identifiers": {
"doi": "10.1080/00207170600586970"
},
"citation": "Morselli, R., Zanasi, R. & Ferracin, P. Modelling and simulation of static and Coulomb friction in a class of automotive systems. International Journal of Control 79, 508–520 (2006)"
},
{
"identifiers": {
"doi": "10.1080/13873950500066959"
},
"citation": "Morselli, R., Zanasi, R. & Sandoni, G. Detailed and reduced dynamic models of passive and active limited-slip car differentials. Mathematical and Computer Modelling of Dynamical Systems 12, 347–362 (2006)"
},
{
"identifiers": {
"doi": "10.1109/acc.2006.1656492"
},
"citation": "Morselli, R., Zanasi, R. & Ferracin, P. Dynamic model of an electro-hydraulic three point hitch. 2006 American Control Conference 6 pp. (2006) doi:10.1109/acc.2006.1656492"
},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/aim.2001.936490"
},
"citation": "Zanasi, R., Visconti, A., Sandoni, G. & Morselli, R. Dynamic modeling and control of a car transmission system. 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556) vol. 1 416–421"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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}
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{
"id": "b1a5270d-cdaa-56c2-abba-9991e5ca0de2",
"identifiers": {
"doi": "10.1109/iecon.2012.6388635"
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"type": "proceedings-article",
"title": "Bond graph and port-controlled hamiltonian model of doubly-fed wind power system",
"authors": [
{
"given": "Huihui",
"family": "Song",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
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{
"given": "Yanbin",
"family": "Qu",
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"affiliation": []
}
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{
"given": "Xinyu",
"family": "Wang",
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"abstract": "Considering the energy transformation essence of doubly-fed wind power system (DFWPS), this paper proposes the use of the bond graph methodology to realize the energy representation of the DFWPS. The total bond graph, integrated by the electromechanical sub-model and the converter sub-model, spans mechanical, electrical and magnetic energy domains. Through the detailed bond graphs of sub-models and the total bond graph of the system, the corresponding port-controlled Hamiltonian (PCH) models for subsystems and the whole system are also extracted. Finally, the bond graph and the PCH model of DFWPS are validated by the simulations in 20sim.",
"container_title": "IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society",
"publication_year": "2012",
"volume": "",
"issue": "",
"pages": "269--273",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2013-01-02",
"permalink": "bond-graph-and-port-controlled-hamiltonian-model-of-doubly-fed-wind-power-system",
"references": [
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/mcs.2007.338279"
},
"citation": "Bond-graph modeling. IEEE Control Syst. 27, 24–45 (2007)"
},
{
"identifiers": {
"doi": "10.1109/tec.2002.801993"
},
"citation": "Datta, R. & Ranganathan, V. T. Variable-speed wind power generation using doubly fed wound rotor induction machine-a comparison with alternative schemes. IEEE Trans. On Energy Conversion 17, 414–421 (2002)"
},
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"citation": "Gonzalez-Contreras, B. M., Rullan-Lara, J. L., Vela-Valdes, L. G. & Claudio, A. S. Modelling, Simulation and Fault Diagnosis of the Three-Phase Inverter Using Bond Graph. 2007 IEEE International Symposium on Industrial Electronics 130–135 (2007) doi:10.1109/isie.2007.4374586"
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"abstract": "A nonlinear passivity-based controller for a three-phase front end converter used in renewable energy generation is presented in this paper. The main control objectives are to inject all the available power into the grid while controlling the reactive power exchanged with the power system. With this aim, the system is represented by its Port-Controlled Hamiltonian model and the controller is designed by interconnection and damping assignment. The proposed design allows a direct control of the DC link voltage dynamics while avoiding the use of derivatives in the implementation of control equations. The behaviour of the proposed control strategy is validated through simulations tests performed using a realistic converter model.",
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{
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"citation": "Bottcher, M., Dannehl, J. & Fuchs, F. W. Interconnection and damping assignment passivity-based current control of grid-connected PWM converter with LCL-filter. Proceedings of 14th International Power Electronics and Motion Control Conference EPE-PEMC 2010 T3-20-T3-26 (2010) doi:10.1109/epepemc.2010.5606817"
},
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},
"citation": "Batlle, C., Doria-Cerezo, A. & Fossas, E. IDA-PBC controller for a bidirectional power flow full-bridge rectifier. Proceedings of the 44th IEEE Conference on Decision and Control 422–426 doi:10.1109/cdc.2005.1582192"
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"doi": "10.1109/iciea.2006.257375"
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"abstract": "An image-based strategy visual servo control via Hamiltonian function method for camera-in-hand robotic systems is considered. Firstly, a Hamiltonian realization is proposed for the visual servoing system. We proposed an image based visual servo controller for a new binocular stereo vision model which can avoid estimating depth information. Secondly, in accordance with the Hamiltonian realization method the visual servoing system can be modeled as a port-controlled Hamiltonian (PCH) system. For the PCH system, the stability analysis is given. Finally, simulation results are presented to illustrate the performance of the proposed controller.",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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},
{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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},
{
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{
"identifiers": {},
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{
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{
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{
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"given": "Thanh Hung",
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"given": "Laurent",
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"abstract": "In this paper are presented some preliminary results on an autonomous lift subsystem made with the interconnection of a DC/AC controlled converter, a salient permanent magnet synchronous motor (SPMSM), the charge and counterweight and the mechanical transmission system. These results are firstly the derivation of a Bond Graph and a related Port-Controlled Hamiltonian (PCH) models and, secondly, the analysis of two identification methods to estimate online the SPMSM parameters.",
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{
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{
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},
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},
{
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{
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{
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{
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{
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},
{
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},
{
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},
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},
{
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},
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{
"identifiers": {
"doi": "10.1109/isie.2006.295594"
},
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},
{
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{
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"citation": "(0)"
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{
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"doi": "10.1109/iecon.2014.7049353"
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"type": "proceedings-article",
"title": "Passivity non-singular higher-order sliding mode control for direct-driven PMSG",
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"given": "Xuemei",
"family": "Zheng",
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{
"given": "Qiuming",
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"given": "Danmei",
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"given": "Peng",
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"given": "Haoyu",
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"abstract": "The paper firstly establishes a port-controlled Hamiltonian dissipation (PCHD) based model of a direct-drive permanent magnet synchronous generator (D-PMSG). A new double loop control of the D-PMSG is proposed with the outer speed loop controlled by a non-singular higher-order terminal sliding mode (NHTSM) controller to undertake maximum wind power point tracking (MPPT). In the inner current control loop is a passivity-based controller (PBC) designed to manage the three-phase PWM rectifier. Simulation results show that the controller design is effective and that the system exhibits satisfactory performance.",
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"pages": "5575--5581",
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{
"identifiers": {},
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{
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{
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{
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{
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{
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},
{
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
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{
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},
{
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{
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{
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{
"identifiers": {},
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{
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{
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"doi": "10.1109/iecon.2015.7392151"
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"type": "proceedings-article",
"title": "Energy management for fuel cell-supercapacitor hybrid system using passivity-based controller with multi-equilibrium states",
"authors": [
{
"given": "Fan",
"family": "Yang",
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"given": "Bo",
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"abstract": "This paper deals with the energy management problem of a Proton Exchange Membrane Fuel Cell (PEMFC) with Supercapacitor (SC) hybrid system. An innovative Interconnection and Damping Assignment Passivity-based Controller (IDA-PBC) with multi-equilibrium states is proposed in this paper. The hybrid system is first modeled as a Port-controlled Hamiltonian (PCH) system by considering the PEMFC and the SC as external voltage signals. Moreover, the IDA-PBC is designed using the techniques of energy shaping and damping injection, and the multi-equilibrium states of the hybrid system in different operating modes are analyzed. Simulation studies are carried out in Matlab/Simulink software to validate the proposed control strategy. The results show that the proposed IDA-PBC with multi-equilibrium states optimally balances power flow distribution in the hybrid system and ensures the stability of the hybrid system in different operating modes.",
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"issue": "",
"pages": "000511--000516",
"publisher": "IEEE",
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"created_date": "2016-03-08",
"permalink": "energy-management-for-fuel-cell-supercapacitor-hybrid-system-using-passivity-based-controller-with-multi-equilibrium-states",
"references": [
{
"identifiers": {
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},
"citation": "Ayad, M. Y. et al. Passivity-Based Control applied to DC hybrid power source using fuel cell and supercapacitors. Energy Conversion and Management 51, 1468–1475 (2010)"
},
{
"identifiers": {
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},
"citation": "Hilairet, M. et al. A passivity-based controller for coordination of converters in a fuel cell system. Control Engineering Practice 21, 1097–1109 (2013)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tec.2008.2003216"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tvt.2009.2028571"
},
"citation": "Thounthong, P., Chunkag, V., Sethakul, P., Davat, B. & Hinaje, M. Comparative Study of Fuel-Cell Vehicle Hybridization with Battery or Supercapacitor Storage Device. IEEE Trans. Veh. Technol. 58, 3892–3904 (2009)"
},
{
"identifiers": {
"doi": "10.1109/tie.2007.894713"
},
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},
{
"identifiers": {
"doi": "10.1109/tvt.2014.2323181"
},
"citation": "El Fadil, H., Giri, F., Guerrero, J. M. & Tahri, A. Modeling and Nonlinear Control of a Fuel Cell/Supercapacitor Hybrid Energy Storage System for Electric Vehicles. IEEE Trans. Veh. Technol. 63, 3011–3018 (2014)"
},
{
"identifiers": {
"doi": "10.1109/vppc.2009.5289678"
},
"citation": "Azib, T., Bethoux, O., Remy, G. & Marchand, C. Structure and control strategy for a parallel hybrid fuel cell/supercapacitors power source. 2009 IEEE Vehicle Power and Propulsion Conference 1858–1863 (2009) doi:10.1109/vppc.2009.5289678"
},
{
"identifiers": {
"doi": "10.1109/tvt.2007.899956"
},
"citation": "Yang, Y.-P., Liu, J.-J., Wang, T.-J., Kuo, K.-C. & Hsu, P.-E. An Electric Gearshift With Ultracapacitors for the Power Train of an Electric Vehicle With a Directly Driven Wheel Motor. IEEE Trans. Veh. Technol. 56, 2421–2431 (2007)"
},
{
"identifiers": {
"doi": "10.1109/tie.2007.896477"
},
"citation": "Thounthong, P., Rael, S. & Davat, B. Control Strategy of Fuel Cell and Supercapacitors Association for a Distributed Generation System. IEEE Trans. Ind. Electron. 54, 3225–3233 (2007)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
}
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"doi": "10.1109/iecon.2015.7392447"
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"type": "proceedings-article",
"title": "Direct power control for three phase grid connected inverter via port-controlled Hamiltonian method",
"authors": [
{
"given": "Gil Ha",
"family": "Lee",
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{
"given": "Yonghao",
"family": "Gui",
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{
"given": "Chunghun",
"family": "Kim",
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{
"given": "Chung Choo",
"family": "Chung",
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"abstract": "This paper presents a new direct active and reactive power control (DPC) controller scheme for a three-phase grid connected voltage source inverter (VSI) based on passivity viewpoint. The proposed method is designed in the framework of port-controlled Hamiltonian system. The proposed method is made up of two parts, one thing is a feedfoward part and the other is a feedback part. The feedforward part is calculated from the model dynamics of VSI. The feedback part is designed to compensate for system uncertainty. The proposed method is verified with simulation and experiment. The simulation uses MATLAB/Simulink and PLECS, and the experiment uses hardware in the loop (HIL) with TI TMS320F28335 DSP. The simulation and experiment results compared with those using direct power control-sliding mode control (DPC-SMC) for the grid connected VSI. The proposed method gives less total harmonic distortions, faster transient response.",
"container_title": "IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society",
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"issue": "",
"pages": "002312--002317",
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"permalink": "direct-power-control-for-three-phase-grid-connected-inverter-via-port-controlled-hamiltonian-method",
"references": [
{
"identifiers": {
"doi": "10.1109/tpel.2009.2012497"
},
"citation": "Zhi, D., Xu, L. & Williams, B. W. Improved Direct Power Control of Grid-Connected DC/AC Converters. IEEE Trans. Power Electron. 24, 1280–1292 (2009)"
},
{
"identifiers": {
"doi": "10.1109/28.936392"
},
"citation": "Malinowski, M., Kazmierkowski, M. P., Hansen, S., Blaabjerg, F. & Marques, G. D. Virtual-flux-based direct power control of three-phase PWM rectifiers. IEEE Trans. on Ind. Applicat. 37, 1019–1027 (2001)"
},
{
"identifiers": {
"doi": "10.1109/tie.2004.831753"
},
"citation": "Lee, T.-S. Lagrangian Modeling and Passivity-Based Control of Three-Phase AC/DC Voltage-Source Converters. IEEE Trans. Ind. Electron. 51, 892–902 (2004)"
},
{
"identifiers": {
"doi": "10.1109/tie.2007.893162"
},
"citation": "Larrinaga, S. A., Vidal, M. A. R., Oyarbide, E. & Apraiz, J. R. T. Predictive Control Strategy for DC/AC Converters Based on Direct Power Control. IEEE Trans. Ind. Electron. 54, 1261–1271 (2007)"
},
{
"identifiers": {
"doi": "10.1109/tii.2011.2134856"
},
"citation": "Kazmierkowski, M. P., Jasinski, M. & Wrona, G. DSP-Based Control of Grid-Connected Power Converters Operating Under Grid Distortions. IEEE Trans. Ind. Inf. 7, 204–211 (2011)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/28.673716"
},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2010.2057518"
},
"citation": "Hu, J., Shang, L., He, Y. & Zhu, Z. Q. Direct Active and Reactive Power Regulation of Grid-Connected DC/AC Converters Using Sliding Mode Control Approach. IEEE Trans. Power Electron. 26, 210–222 (2011)"
}
]
},
{
"id": "3b1f8b09-1473-511d-a075-0ad51b1bdf96",
"identifiers": {
"doi": "10.1109/iecon.2017.8216837"
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"type": "proceedings-article",
"title": "A unified hybrid control for DC/DC power converters using port-Hamiltonian formulation",
"authors": [
{
"given": "Gerardo",
"family": "Becerra",
"literal": null,
"source_fields": {
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"affiliation": []
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{
"given": "Ahmed R.",
"family": "Meghnous",
"literal": null,
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{
"given": "Minh T.",
"family": "Pham",
"literal": null,
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"affiliation": []
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},
{
"given": "Xuefang",
"family": "Lin-Shi",
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{
"given": "Diego",
"family": "Patino",
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"abstract": "This paper proposes a general approach to design a feedback control law for DC/DC power converters. These last ones can be modeled as switched port-Hamiltonian systems. Based on Lyapunov theory, a candidate Lyapunov function representing the energy of the system is proposed. Advantages of the resulting control law include ease of design and implementation in real time applications. The proposed control is applied in simulation for Buck, Buck-Boost, SEPIC and Ćuk converters. A comparison with a PWM state feedback control law is given for the last two converters.",
"container_title": "IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",
"publication_year": "2017",
"volume": "",
"issue": "",
"pages": "4851--4856",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2017-12-21",
"permalink": "a-unified-hybrid-control-for-dc-dc-power-converters-using-port-hamiltonian-formulation",
"references": [
{
"identifiers": {
"doi": "10.1080/00207170802563280"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.23919/ecc.2009.7075020"
},
"citation": "Stadlmayr, R. & Schlacher, K. An energy-based control strategy for dc/dc power converters. 2009 European Control Conference (ECC) 3967–3972 (2009) doi:10.23919/ecc.2009.7075020"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1561/2600000002"
},
"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. FnT in Systems and Control 1, 173–378 (2014)"
},
{
"identifiers": {
"doi": "10.1109/iecon.2009.5414966"
},
"citation": "Jaafar, A. et al. Experimental validation with a control point of view analysis of the SEPIC converter. 2009 35th Annual Conference of IEEE Industrial Electronics 462–497 (2009) doi:10.1109/iecon.2009.5414966"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/acc.2013.6580752"
},
"citation": "Meghnous, A. R., Pham, M. T. & Lin-Shi, X. Nonlinear observer and Lyapunov-based control for SEPIC converter: design and experimental results. 2013 American Control Conference 5833–5838 (2013) doi:10.1109/acc.2013.6580752"
},
{
"identifiers": {
"doi": "10.1109/tcst.2009.2035306"
},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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{
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},
{
"identifiers": {
"doi": "10.1109/tac.2002.805688"
},
"citation": "Bemporad, A., Borrelli, F. & Morari, M. Model predictive control based on linear programming - the explicit solution. IEEE Trans. Automat. Contr. 47, 1974–1985 (2002)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
}
]
},
{
"id": "db8d794f-ffd9-50cb-82e9-6de8dfc4d5ac",
"identifiers": {
"doi": "10.1109/iecon.2017.8217119"
},
"type": "proceedings-article",
"title": "Research on passivity based control and active disturbance rejection control for MMC-UPQC",
"authors": [
{
"given": "He",
"family": "Zhu",
"literal": null,
"source_fields": {
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}
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{
"given": "Jiuhe",
"family": "Wang",
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"abstract": "In this paper, the port controlled hamiltonian with dissipation (PCHD) model of unified power quality controller based on modular multilevel converter (MMC-UPQC) under dq0 frame of reference is established. Based on the model and passivity of MMC-UPQC, the passivity based controller is designed by injecting virtual damping in current inner loop, which can accelerate the convergence of error storage function and ensure the global stability of MMC-UPQC. To improve the disturbance rejection ability, the nonlinear active disturbance rejection control (ADRC) is employed in voltage outer loop to provide desired current for inner loop. A circulating current controller based on ADRC is designed, which can effectively reduce switching losses. Compared with PI control, the proposed control has advantages such as good dynamic and static performance and strong disturbance rejection ability. The simulation results of five-level MMC-UPQC in Matlab/simulink validate the feasibility of the proposed control strategy.",
"container_title": "IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",
"publication_year": "2017",
"volume": "",
"issue": "",
"pages": "6425--6430",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2017-12-21",
"permalink": "research-on-passivity-based-control-and-active-disturbance-rejection-control-for-mmc-upqc",
"references": [
{
"identifiers": {},
"citation": "long, Research on strategy of unified power quality conditioner based on modular multilevel converter (2015)"
},
{
"identifiers": {},
"citation": "lu, MMC-UPQC coordinated control method based on fixed active current limit value control. Transactions of China Electrotechnical Society (2015)"
},
{
"identifiers": {},
"citation": "wang, Nonlinear Control Theory and Its Application (2012)"
},
{
"identifiers": {},
"citation": "chang, Study of nonlinear control strategy for unified power quality controller (2013)"
},
{
"identifiers": {
"doi": "10.1109/iecon.2012.6388809"
},
"citation": "She, X., Huang, A., Ni, X. & Burgos, R. AC circulating currents suppression in modular multilevel converter. IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society (2012) doi:10.1109/iecon.2012.6388809"
},
{
"identifiers": {
"doi": "10.1109/ipemc.2016.7512276"
},
"citation": "Zheng, C. & Wang, J. The method of harmonic compensation of UPQC based on Euler-Lagrange model. 2016 IEEE 8th International Power Electronics and Motion Control Conference (IPEMC-ECCE Asia) 142–146 (2016) doi:10.1109/ipemc.2016.7512276"
},
{
"identifiers": {},
"citation": "zhao, Modeling and simulation technology of flexible DC transmission system (2014)"
},
{
"identifiers": {
"doi": "10.1109/cdc.1999.830260"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Energy-shaping of port-controlled Hamiltonian systems by interconnection. Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) vol. 2 1646–1651"
},
{
"identifiers": {},
"citation": "cai, Euler-lagrange model based passive control for modular multilevel converter. Transactions of China Electrotechnical Society (2013)"
},
{
"identifiers": {
"doi": "10.1109/iemdc.2013.6556312"
},
"citation": "Xiangning Xiao, Jingjing Lu, Chang Yuan & Yongchun Yang. A 10kV 4MVA unified power quality conditioner based on modular multilevel inverter. 2013 International Electric Machines & Drives Conference 1352–1357 (2013) doi:10.1109/iemdc.2013.6556312"
},
{
"identifiers": {},
"citation": "wang, Passivity-Based Control Theory and Its Applications (2011)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2011.2172001"
},
"citation": "Khadkikar, V. Enhancing Electric Power Quality Using UPQC: A Comprehensive Overview. IEEE Trans. Power Electron. 27, 2284–2297 (2012)"
}
]
},
{
"id": "22f46e85-7d28-53e7-a1a7-04acfff938bb",
"identifiers": {
"doi": "10.1109/iecon.2017.8217441"
},
"type": "proceedings-article",
"title": "Hybrid Lyapunov based control of multicellular converters using Port-Hamiltonian modeling",
"authors": [
{
"given": "G.",
"family": "Becerra",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
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{
"given": "A.-R.",
"family": "Meghnous",
"literal": null,
"source_fields": {
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"affiliation": []
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},
{
"given": "M. T.",
"family": "Pham",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "X.",
"family": "Lin-Shi",
"literal": null,
"source_fields": {
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"affiliation": []
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{
"given": "D.",
"family": "Patino",
"literal": null,
"source_fields": {
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{
"given": "J.-Y.",
"family": "Gauthier",
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"abstract": "A hybrid Lyapunov control for a flying capacitor multicellular converter is presented. This control law is based on the Port-Hamiltonian (PH) formalism of power converters and allows to enhance load current quality and reduce switching losses. The proposed control is applied to a three-cell multicellular converter. A procedure for selecting the best weighting parameters in the control law according to a performance criterion is presented. The simulation and experimental results indicate the stability of the control for changes in the reference signals. A comparison with a different Lyapunov control technique shows the performance of the proposed solution and the advantage of such a strategy in order to reduce the switching losses.",
"container_title": "IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",
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"issue": "",
"pages": "8213--8218",
"publisher": "IEEE",
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"created_date": "2017-12-21",
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/icit.2004.1490340"
},
"citation": "Zhou, G., Bin Wu & Donglai Xu. Direct power control of a multilevel inverter based active power filter. 2004 IEEE International Conference on Industrial Technology, 2004. IEEE ICIT ’04. vol. 1 498–503"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tpel.2008.2011907"
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},
{
"identifiers": {
"doi": "10.1007/978-3-319-10795-0_12"
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"citation": "Defoort, M., Van Gorp, J. & Djemai, M. Multicellular Converter: A Benchmark for Control and Observation for Hybrid Dynamical Systems. Lecture Notes in Control and Information Sciences 293–313 (2014) doi:10.1007/978-3-319-10795-0_12"
},
{
"identifiers": {
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},
"citation": "Gauthier, J.-Y., Lin-Shi, X. & Avramoae, A. Predictive control with efficiency optimization and normalization for a multilevel converter. 2013 IEEE International Symposium on Sensorless Control for Electrical Drives and Predictive Control of Electrical Drives and Power Electronics (SLED/PRECEDE) 1–6 (2013) doi:10.1109/sled-precede.2013.6684487"
},
{
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},
{
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"title": "Research on LC Filter Cascaded with Buck Converter Supplying Constant Power Load Based on IDA-Passivity-Based Control",
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{
"given": "Shengzhao",
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"abstract": "Nowadays distribution power systems are used in different applications such as aircraft, ships, submarines and hybrid electric vehicles. However, the interaction between individually designed power subsystems may cause instability. Moreover, in these applications, the constant power load (CPL) also poses challenges for system dynamic response and stability. Thus, the main objective is to stabilize the cascaded system supplying the CPL. An interconnection and damping assignment (IDA) passivity-based control (PBC) scheme for LC filter cascaded with buck converter supplying CPL is proposed. The plant is described by port-controlled Hamiltonian (PCH) form. Particularly, an adaptive interconnection matrix is developed to achieve internal links in PCH system. A modified IDA-PBC and its proof are presented to perfect the implementation for the CPL application. Simulation results are given to illustrate the effectiveness of the proposed approach.",
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{
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"identifiers": {
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},
"type": "proceedings-article",
"title": "Port - Hamiltonian Modelling and Control of Single Phase DAB Based MVDC Shipboard Power System",
"authors": [
{
"given": "Marco",
"family": "Cupelli",
"literal": null,
"source_fields": {
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"affiliation": []
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},
{
"given": "Siddharth Kiranbhai",
"family": "Bhanderi",
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{
"given": "Sriram Karthik",
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{
"given": "Antonello",
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"abstract": "This paper presents a Port-Hamiltonian based modelling and control approach for MVDC Shipboard Power Systems (SPSs). The Line Regulating Converters (LRCs) consist of parallel-connected submodules based on the single-phase Dual Active Bridge (DAB) topology. The load side converters (Point of Load (POL) converters) are tightly regulated buck converters, which exhibit Constant Power Load (CPL) behavior with destabilizing effect on the MVDC bus voltage. We apply here an Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) strategy to the MVDC SPS and evaluate its performance by simulation in MATLAB Simulink. The analyzed scenarios consider large disturbances such as load step up, submodule disconnection and LRC module disconnection. Furthermore, we prove that the entire MVDC is Port-Hamiltonian and therefore the system stability is guaranteed by the IDA - PBC.",
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"volume": "",
"issue": "",
"pages": "3437--3444",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2019-01-18",
"permalink": "port-hamiltonian-modelling-and-control-of-single-phase-dab-based-mvdc-shipboard-power-system",
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{
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{
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},
{
"identifiers": {
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},
{
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{
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{
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{
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}
]
},
{
"id": "6914ff21-26a4-57f3-b404-82d3ccb5b479",
"identifiers": {
"doi": "10.1109/iecon.2018.8591805"
},
"type": "proceedings-article",
"title": "Robust IDA-PBC Based Load Voltage Controller for Power Quality Enhancement of Standalone Microgrids",
"authors": [
{
"given": "N.",
"family": "Khefifi",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "A.",
"family": "Houari",
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}
},
{
"given": "M.",
"family": "Ait-Ahmed",
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},
{
"given": "M.",
"family": "Machmoum",
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{
"given": "M.",
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"abstract": "This paper proposes a robust control approach for improving the power quality in three-phase standalone based micro-grids. The key developed idea is to increase the disturbance rejection ability of an Interconnection and Damping Assignment Passivity-Based Controller (IDA-PBC)by adding an integral action. Indeed, the classical IDA-PBC techniques suffer from their parametric dependency. Hence, the use of the proposed technique allows enhancing the load voltage quality either in nominal operating conditions or in presence of system uncertainties. The power system circuit is modeled as a Port-Controlled Hamiltonian (PCH)system. Then, the control design is detailed. The validity of the proposed control algorithm is verified using simulation studies, and its effectiveness is illustrated through a comparison analysis with a Proportional-Integral (PI)under various operating conditions.",
"container_title": "IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society",
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"volume": "",
"issue": "",
"pages": "249--254",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2019-01-18",
"permalink": "robust-ida-pbc-based-load-voltage-controller-for-power-quality-enhancement-of-standalone-microgrids",
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"doi": "10.1109/tia.2017.2758755"
},
"citation": "Pullaguram, D., Mishra, S., Senroy, N. & Mukherjee, M. Design and Tuning of Robust Fractional Order Controller for Autonomous Microgrid VSC System. IEEE Trans. on Ind. Applicat. 54, 91–101 (2018)"
},
{
"identifiers": {
"doi": "10.1109/tie.2017.2686346"
},
"citation": "Pichan, M. & Rastegar, H. Sliding-Mode Control of Four-Leg Inverter With Fixed Switching Frequency for Uninterruptible Power Supply Applications. IEEE Trans. Ind. Electron. 64, 6805–6814 (2017)"
},
{
"identifiers": {
"doi": "10.1049/iet-pel.2017.0124"
},
"citation": "Houari, A., Djerioui, A., Saim, A., Ait‐Ahmed, M. & Machmoum, M. Improved control strategy for power quality enhancement in standalone systems based on four‐leg voltage source inverters. IET Power Electronics 11, 515–523 (2018)"
},
{
"identifiers": {
"doi": "10.1016/j.rser.2015.10.079"
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"citation": "Miveh, M. R., Rahmat, M. F., Ghadimi, A. A. & Mustafa, M. W. Control techniques for three-phase four-leg voltage source inverters in autonomous microgrids: A review. Renewable and Sustainable Energy Reviews 54, 1592–1610 (2016)"
},
{
"identifiers": {
"doi": "10.1109/tia.2017.2781643"
},
"citation": "Sreekumar, P. & Khadkikar, V. Adaptive Power Management Strategy for Effective Volt–Ampere Utilization of a Photovoltaic Generation Unit in Standalone Microgrids. IEEE Trans. on Ind. Applicat. 54, 1784–1792 (2018)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {
"doi": "10.1109/tie.2017.2686346"
},
"citation": "Pichan, M. & Rastegar, H. Sliding-Mode Control of Four-Leg Inverter With Fixed Switching Frequency for Uninterruptible Power Supply Applications. IEEE Trans. Ind. Electron. 64, 6805–6814 (2017)"
}
]
},
{
"id": "35a2e88f-b5c8-5695-993b-101d2d43a839",
"identifiers": {
"doi": "10.1109/iecon.2019.8927779"
},
"type": "proceedings-article",
"title": "Port-Controlled Hamiltonian and Energy-Shaping Based Current Control Scheme for Grid-Connected Inverter",
"authors": [
{
"given": "Wei",
"family": "Zhang",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Wei",
"family": "Wang",
"literal": null,
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}
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"given": "Wentao",
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"abstract": "A novel current controlled scheme based on port-controlled Hamiltonian and energy-shaping control method has been proposed for the grid-connected inverter. Compared to traditional current controllers, such as proportional-resonant controller, only one control parameter requires to be tuned in the proposed energy-shaping controller. Moreover, the proposed energy-shaping control can not only realize a quick tracking reponse, but also improve the steady-state performance of the injected grid current whether or not the grid voltage is distorted. Simulation and experimental results have validated the correctness and feasibility of the proposed scheme through a 1 kW grid-connected inverter system.",
"container_title": "IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society",
"publication_year": "2019",
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"issue": "",
"pages": "6507--6512",
"publisher": "IEEE",
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"created_date": "2019-12-27",
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{
"identifiers": {
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{
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{
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{
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{
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{
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]
},
{
"id": "d5af14e1-b6b3-550f-8d0f-20d483f961fb",
"identifiers": {
"doi": "10.1109/iecon48115.2021.9589522"
},
"type": "proceedings-article",
"title": "Design of IDA-PBC Controller for LCL-Filtered Grid-Connected Inverter",
"authors": [
{
"given": "Min",
"family": "Huang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Fan",
"family": "Chen",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Zhicheng",
"family": "Zhang",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Weimin",
"family": "Wu",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Zhilei",
"family": "Yao",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Lixun",
"family": "Zhu",
"literal": null,
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],
"abstract": "This paper investigates the design of passivity-based control for LCL-filtered grid-connected inverter based on the port-controlled Hamiltonian with dissipation (PCHD) model. The interconnection matrix is changed from the original antisymmetric matrix to the upper triangular matrix with zero corner elements, which simplifies the design process. What’s more, to enhance the stability of the system, the combination of classic control theory and modern control theory is proposed to design the damping parameters of the controller. The main idea is to ensure the inverter output impedance is passive. The relationship between the controller parameters and the external interaction stability is compared. The simulation results are carried out to validate the effectiveness and robustness of the proposed approach.",
"container_title": "IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society",
"publication_year": "2021",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2021-11-10",
"permalink": "design-of-ida-pbc-controller-for-lcl-filtered-grid-connected-inverter",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1049/iet-pel:20070286"
},
"citation": "Harnefors, L., Zhang, L. & Bongiorno, M. Frequency-domain passivity-based current controller design. IET Power Electron. 1, 455–465 (2008)"
},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1049/iet-pel.2014.0623"
},
"citation": "Lyu, Y., Lin, H. & Cui, Y. Stability analysis of digitally controlled LCL‐type grid‐connected inverter considering the delay effect. IET Power Electronics 8, 1651–1660 (2015)"
},
{
"identifiers": {
"doi": "10.1109/tie.2012.2217725"
},
"citation": "Wu, W., He, Y., Tang, T. & Blaabjerg, F. A New Design Method for the Passive Damped LCL and LLCL Filter-Based Single-Phase Grid-Tied Inverter. IEEE Trans. Ind. Electron. 60, 4339–4350 (2013)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2017.2651948"
},
"citation": "Wang, X., Blaabjerg, F. & Loh, P. C. Passivity-Based Stability Analysis and Damping Injection for Multiparalleled VSCs with LCL Filters. IEEE Trans. Power Electron. 32, 8922–8935 (2017)"
},
{
"identifiers": {
"doi": "10.1109/tie.2009.2021175"
},
"citation": "Fei Liu et al. Parameter Design of a Two-Current-Loop Controller Used in a Grid-Connected Inverter System With LCL Filter. IEEE Trans. Ind. Electron. 56, 4483–4491 (2009)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2012.2218133"
},
"citation": "Hao, X., Yang, X., Liu, T., Huang, L. & Chen, W. A Sliding-Mode Controller With Multiresonant Sliding Surface for Single-Phase Grid-Connected VSI With an LCL Filter. IEEE Trans. Power Electron. 28, 2259–2268 (2013)"
},
{
"identifiers": {
"doi": "10.1109/tie.2015.2510984"
},
"citation": "Komurcugil, H., Altin, N., Ozdemir, S. & Sefa, I. Lyapunov-Function and Proportional-Resonant-Based Control Strategy for Single-Phase Grid-Connected VSI With LCL Filter. IEEE Trans. Ind. Electron. 63, 2838–2849 (2016)"
},
{
"identifiers": {
"doi": "10.1109/tia.2005.853373"
},
"citation": "Liserre, M., Blaabjerg, F. & Hansen, S. Design and Control of an LCL-Filter-Based Three-Phase Active Rectifier. IEEE Trans. on Ind. Applicat. 41, 1281–1291 (2005)"
},
{
"identifiers": {},
"citation": "IEEE Standard for Interconnecting Distributed Resources With Electric Power Systems. IEEE Standard (2003)"
},
{
"identifiers": {
"doi": "10.1109/tie.2018.2866115"
},
"citation": "Mohapatra, S. R. & Agarwal, V. Model Predictive Controller With Reduced Complexity for Grid-Tied Multilevel Inverters. IEEE Trans. Ind. Electron. 66, 8851–8855 (2019)"
}
]
},
{
"id": "d462c393-a3f0-5afb-bcf7-e9fc8eb8ad6e",
"identifiers": {
"doi": "10.1109/ieecon51072.2021.9440316"
},
"type": "proceedings-article",
"title": "Port–Hamiltonian Formulation of Adaptive PI Controller for Constant Power Load Stability Issue: Case Study for Multiphase Fuel Cell Converters",
"authors": [
{
"given": "Phatiphat",
"family": "Thounthong",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Faculty of Technical Education King Mongkut’s University of Technology North Bangkok (KMUTNB),Renewable Energy Research Centre (RERC),Department of Teacher Training in Electrical Engineering,Bangkok,Thailand,10800"
}
]
}
}
],
"abstract": "The cascaded connection of converters in dc microgrid may cause instability due to the fact that converters performing as loads have a constant power load (CPL) behaviors. In this article, the construction of the feedback controller of a multiphase interleaved fuel cell (FC) boost converter is based on the adaptive Hamiltonian–PI control law, including an integral terms in order to guarantee that there is no steady-state error in the important dc bus voltage. The control approach is authenticated via digital simulations and experimental prototyping with a 2500 W FC converter supplied by a FC/reformer size 2500 W, 50 V.",
"container_title": "2021 9th International Electrical Engineering Congress (iEECON)",
"publication_year": "2021",
"volume": "",
"issue": "",
"pages": "193--196",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2021-06-01",
"permalink": "port-hamiltonian-formulation-of-adaptive-pi-controller-for-constant-power-load-stability-issue-case-study-for-multiphase-fuel-cell-converters",
"references": [
{
"identifiers": {
"doi": "10.1109/ri2c48728.2019.8999956"
},
"citation": "Mungporn, P. et al. Study of Hamiltonian Energy Control of Multiphase Interleaved Fuel Cell Boost Converter. 2019 Research, Invention, and Innovation Congress (RI2C) 1–6 (2019) doi:10.1109/ri2c48728.2019.8999956"
},
{
"identifiers": {
"doi": "10.1016/j.ijepes.2020.106346"
},
"citation": "Thounthong, P. et al. Design and control of multiphase interleaved boost converters-based on differential flatness theory for PEM fuel cell multi-stack applications. International Journal of Electrical Power & Energy Systems 124, 106346 (2021)"
},
{
"identifiers": {
"doi": "10.1109/ri2c48728.2019.8999919"
},
"citation": "Mungporn, P. et al. Model-Free Control of Multiphase Interleaved Boost Converter for Fuel Cell/Reformer Power Generation. 2019 Research, Invention, and Innovation Congress (RI2C) 1–6 (2019) doi:10.1109/ri2c48728.2019.8999919"
},
{
"identifiers": {
"doi": "10.1109/tia.2019.2938149"
},
"citation": "Pang, S. et al. Interconnection and Damping Assignment Passivity-Based Control Applied to On-Board DC–DC Power Converter System Supplying Constant Power Load. IEEE Trans. on Ind. Applicat. 55, 6476–6485 (2019)"
},
{
"identifiers": {
"doi": "10.1109/eecs.2017.32"
},
"citation": "Mungporn, P. et al. Differential Flatness-Based Control of Current/Voltage Stabilization for a Single-Phase PFC with Multiphase Interleaved Boost Converters. 2017 European Conference on Electrical Engineering and Computer Science (EECS) 124–130 (2017) doi:10.1109/eecs.2017.32"
},
{
"identifiers": {
"doi": "10.3390/math8112035"
},
"citation": "Thounthong, P., Mungporn, P., Pierfederici, S., Guilbert, D. & Bizon, N. Adaptive Control of Fuel Cell Converter Based on a New Hamiltonian Energy Function for Stabilizing the DC Bus in DC Microgrid Applications. Mathematics 8, 2035 (2020)"
},
{
"identifiers": {
"doi": "10.1109/tste.2021.3050783"
},
"citation": "Thounthong, P. et al. Robust Hamiltonian Energy Control Based on Lyapunov Function for Four-Phase Parallel Fuel Cell Boost Converter for DC Microgrid Applications. IEEE Trans. Sustain. Energy 12, 1500–1511 (2021)"
},
{
"identifiers": {
"doi": "10.1109/tii.2019.2953694"
},
"citation": "He, W. & Ortega, R. Design and Implementation of Adaptive Energy Shaping Control for DC–DC Converters With Constant Power Loads. IEEE Trans. Ind. Inf. 16, 5053–5064 (2020)"
},
{
"identifiers": {
"doi": "10.1109/tie.2014.2362497"
},
"citation": "Hilairet, M. et al. Experimental Validation of a Sampled-Data Passivity-Based Controller for Coordination of Converters in a Fuel Cell System. IEEE Trans. Ind. Electron. 62, 5187–5194 (2015)"
},
{
"identifiers": {
"doi": "10.3390/math8020151"
},
"citation": "Bizon, N. & Thounthong, P. Energy Efficiency and Fuel Economy of a Fuel Cell/Renewable Energy Sources Hybrid Power System with the Load-Following Control of the Fueling Regulators. Mathematics 8, 151 (2020)"
},
{
"identifiers": {
"doi": "10.1109/tte.2020.2980193"
},
"citation": "Mungporn, P. et al. Modeling and Control of Multiphase Interleaved Fuel-Cell Boost Converter Based on Hamiltonian Control Theory for Transportation Applications. IEEE Trans. Transp. Electrific. 6, 519–529 (2020)"
},
{
"identifiers": {
"doi": "10.3390/en13112794"
},
"citation": "Thounthong, P. et al. Differential Flatness Based-Control Strategy of a Two-Port Bidirectional Supercapacitor Converter for Hydrogen Mobility Applications. Energies 13, 2794 (2020)"
}
]
},
{
"id": "43d77b47-6e3e-57fe-9029-0d3413f26c45",
"identifiers": {
"doi": "10.1109/ieecon53204.2022.9741575"
},
"type": "proceedings-article",
"title": "A port-Hamiltonian Approach in Current Controller Design for Buck Boost Converter",
"authors": [
{
"given": "Wachiravit",
"family": "Buaket",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Electrical and Computer Engineering, Faculty of Engineering,Bangkok,Thailand"
}
]
}
},
{
"given": "Witthawas",
"family": "Pongyart",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Electrical and Computer Engineering, Faculty of Engineering,Bangkok,Thailand"
}
]
}
}
],
"abstract": "A Current controller is always implemented as an inner loop in many DC-DC converters, to improve performance of the system. However, the variation of the load connected on the output degrades the whole system operation. In this paper, by using port-Hamiltonian system concept, the Energy Shaping technique and damping injection is utilized to remove load fluctuation from controller design process. In addition, the feedback and feedforward controller can be designed simultaneously, and both are combined in the developed controller. Therefore, the feedback loop becomes robust, and the disturbance rejection is enhanced. The simulation and experimental results on a 24V, 30W DC-DC buck-boost converter show the remarkable achievement of the proposed controller in command tracking and disturbance rejection.",
"container_title": "2022 International Electrical Engineering Congress (iEECON)",
"publication_year": "2022",
"volume": "",
"issue": "",
"pages": "1--4",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2022-03-29",
"permalink": "a-port-hamiltonian-approach-in-current-controller-design-for-buck-boost-converter",
"references": []
},
{
"id": "6c54d4ff-2671-52d9-a888-d57f2d790229",
"identifiers": {
"doi": "10.1109/ieecon53204.2022.9741689"
},
"type": "proceedings-article",
"title": "Application of port-Hamiltonian Approach in Controller Design for Buck Boost Converter",
"authors": [
{
"given": "Walarcheth",
"family": "Thongrailuck",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Electrical and Computer Engineering, Faculty of Engineering,Bangkok,Thailand"
}
]
}
},
{
"given": "Witthawas",
"family": "Pongyart",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "King Mongkut’s University of Technology North Bangkok,Electrical and Computer Engineering, Faculty of Engineering,Bangkok,Thailand"
}
]
}
}
],
"abstract": "Controlling output voltage of the DC-DC Buck-Boost converter has been a challenging topic for many years, since its averaged dynamics is a non-minimum phase system with highly load variation. Several methods avoid this difficulty by controlling the voltage via the inductor current. This paper presents a nonlinear energy-based controller design approach, which can directly control the output voltage without internal current loop. Due to damping assignment technique, the damping of the closed-loop system can be determined, and the problem with load variation is solved. To verify the performance of the proposed approach, the controller is test with a simulation and with existing converter. The result confirms the achievement of the proposed controller.",
"container_title": "2022 International Electrical Engineering Congress (iEECON)",
"publication_year": "2022",
"volume": "",
"issue": "",
"pages": "1--4",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2022-03-29",
"permalink": "application-of-port-hamiltonian-approach-in-controller-design-for-buck-boost-converter",
"references": [
{
"identifiers": {
"doi": "10.1109/iicpe.2012.6450405"
},
"citation": "Mahery, H. M., Torabzad, S., Sabahi, M. & Babaei, E. Modeling and stability analysis of buck-boost dc-dc converter based on Z-transform. 2012 IEEE 5th India International Conference on Power Electronics (IICPE) (2012) doi:10.1109/iicpe.2012.6450405"
},
{
"identifiers": {
"doi": "10.1109/psec.2002.1023864"
},
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{
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{
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{
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"name": "Shanghai Aircraft Design and Research Institute, Commercial Aircraft Corporation of China, Ltd,Shanghai,China"
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{
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{
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{
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{
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"given": "Milka C. I.",
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"name": "University of the Witwatersrand Private Bag 03,School of Electrical and Information Engineering,Johannesburg,South Africa,WITS2050"
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"pages": "232--237",
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{
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{
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{
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{
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{
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{
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{
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"type": "proceedings-article",
"title": "Passivity-Based Control of Hybrid Power Sources using Fuel Cell, Supercapacitors, and Batteries on the DC link for Energy Traction System",
"authors": [
{
"given": "M.Y.",
"family": "Ayad",
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{
"given": "M.",
"family": "Becherif",
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"given": "D.",
"family": "Paire",
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{
"given": "A.",
"family": "Djerdir",
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{
"given": "A.",
"family": "Miraoui",
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"abstract": "The classic proper energy element in electric vehicle consists of batteries and fuel cell (FQ, which allow a relatively high autonomy, but they are with moderate power capability. On the other hand, the capacitors have high power capability they can only be considered for applications which require little energy. In term of specifics energy and power, supercapacitors are situated between accumulators and traditional capacitors. The hybridation of these sources with a power source as supercapacitor (SC) is proposed. A recent approach of passivity- based control (PBC) is the interconnection and damping assignment (IDA-PBC) which is a very useful technique to control systems assigning a desired port-controlled Hamiltonian (PCH) structure to the closed-loop.",
"container_title": "2007 IEEE International Electric Machines & Drives Conference",
"publication_year": "2007",
"volume": "",
"issue": "",
"pages": "453--458",
"publisher": "IEEE",
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"references": [
{
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},
{
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},
{
"identifiers": {
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},
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},
{
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"citation": "(0)"
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{
"identifiers": {},
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{
"identifiers": {},
"citation": "becherif, Modelling and Passivity-Based Control of Hybrid Sources Fuel cell and Supercapacitors (2006)"
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{
"identifiers": {
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},
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},
{
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},
{
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},
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},
{
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},
{
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}
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"doi": "10.1109/iemdc.2007.383559"
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"type": "proceedings-article",
"title": "Stabilizing Winding Systems by Injection Damping Control Based on Controlled Hamiltonian Systems",
"authors": [
{
"given": "Fouad",
"family": "Mokhtari",
"literal": null,
"source_fields": {
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{
"given": "Pierre",
"family": "Sicard",
"literal": null,
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{
"given": "Nicolas",
"family": "Lechevin",
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"source_fields": {
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],
"abstract": "In continuous processing plants, flexibility of the web is a source of vibrations and resonance amongst motor drives and thus reduces the product quality. Port-controlled Hamiltonian with dissipation (PCHD) modeling is considered to develop stabilization strategies with a physical interpretation and motivation of the control action. A web transport system is modeled as a PCHD system and the control action is defined to obtain asymptotically stable operating points for the controlled system by a passivity argument. The controller negative output feedback gain matrix is interpreted as the realization of virtual dampers added to the system. Structural analysis is used both for controller tuning and to define damping matrices to generate a master-slave-like structure.",
"container_title": "2007 IEEE International Electric Machines & Drives Conference",
"publication_year": "2007",
"volume": "",
"issue": "",
"pages": "95--100",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2007-07-23",
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {},
"citation": "(0)"
},
{
"identifiers": {
"doi": "10.1109/tcst.2003.813404"
},
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},
{
"identifiers": {
"doi": "10.1109/28.740855"
},
"citation": "Seok Ho Jeon, Jang-Mok Kim, Kyung-Chul Jung, Sul, S.-K. & Jin Young Choi. Decoupling control of bridle rolls for steel mill drive system. IEEE Trans. on Ind. Applicat. 35, 119–125 (1999)"
},
{
"identifiers": {
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},
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},
{
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},
{
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tie.2003.822096"
},
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},
{
"identifiers": {
"doi": "10.1109/87.987065"
},
"citation": "Koc, H., Knittel, D., de Mathelin, M. & Abba, G. Modeling and robust control of winding systems for elastic webs. IEEE Trans. Contr. Syst. Technol. 10, 197–208 (2002)"
},
{
"identifiers": {},
"citation": "laroche, Web Winding System Robustness Analysis Via u-Analysis. Proc IEEE Int Conf Contr Applicat (2001)"
},
{
"identifiers": {
"doi": "10.1109/tac.2002.800770"
},
"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
},
{
"identifiers": {},
"citation": "(0)"
}
]
},
{
"id": "e40d3932-d119-5236-befe-040995a041bf",
"identifiers": {
"doi": "10.1109/iemdc.2011.5994827"
},
"type": "proceedings-article",
"title": "Passivity-based adaptive sliding Mode speed control of switched reluctance motor drive considering torque ripple reduction",
"authors": [
{
"given": "M.M.",
"family": "Namazi Isfahani",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "S.M.",
"family": "Saghaian-Nejad",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "A.",
"family": "Rashidi",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "H.",
"family": "Abootorabi Zarchi",
"literal": null,
"source_fields": {
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"affiliation": []
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],
"abstract": "This paper presents a high-performance nonlinear controller for Switched reluctance machine (SRM), acting as a speed regulation motor drive. We use a cascaded torque control structure for torque ripple minimization. In a cascaded control structure, accurate torque control requires inner current controller. Passivity-based control (PBC) approaches is proposed for current control purpose. By using the port-controlled Hamiltonian (PCH) systems theory, a full-order nonlinear controlled model is first developed. Then nonlinear passivity-based adaptive sliding mode control algorithm in the presence of external disturbances for the purpose of torque ripple reduction and characteristic improvement is presented. The proposed controller design is separated into the inner loop and the outer loop controller. In the inner loop, passivity-based control (PBC) is employed by using energy shaping techniques to produce the proper switching function. The outer loop control is employed by adaptive sliding controller to determine the appropriate Torque command. It can also overcome the inherent nonlinear characteristics of the system and make the whole system robust to uncertainties. The performance of the proposed controller algorithm has been demonstrated in simulation and also experimentally using a 4KW, four-phase, 8/6 pole SRM DSP-based drive system.",
"container_title": "2011 IEEE International Electric Machines & Drives Conference (IEMDC)",
"publication_year": "2011",
"volume": "",
"issue": "",
"pages": "1480--1485",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2011-08-25",
"permalink": "passivity-based-adaptive-sliding-mode-speed-control-of-switched-reluctance-motor-drive-considering-torque-ripple-reduction",
"references": [
{
"identifiers": {
"doi": "10.1109/tpel.2002.1004245"
},
"citation": "Ge Baoming, Wang Xiangheng, Su Pengsheng & Jiang Jingping. Nonlinear internal-model control for switched reluctance drives. IEEE Trans. Power Electron. 17, 379–388 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2005.850958"
},
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},
{
"identifiers": {
"doi": "10.1007/s11071-008-9375-x"
},
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/41.982245"
},
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},
{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
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},
{
"identifiers": {
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{
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},
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},
{
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"doi": "10.1109/tcst.2004.824345"
},
"citation": "Espinosa-Perez, G., Maya-Ortiz, P., Velasco-Villa, M. & Sira-Ramirez, H. Passivity-Based Control of Switched Reluctance Motors With Nonlinear Magnetic Circuits. IEEE Trans. Contr. Syst. Technol. 12, 439–448 (2004)"
}
]
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"id": "8e39fe20-3e2d-5619-a1dd-0323dd339166",
"identifiers": {
"doi": "10.1109/ieses.2018.8349856"
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"type": "proceedings-article",
"title": "Coordinated passivity control of permanent magnet synchronous generator based on dual PWM converter",
"authors": [
{
"given": "Jie",
"family": "Li",
"literal": null,
"source_fields": {
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}
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{
"given": "Yan-Nan",
"family": "Guo",
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}
},
{
"given": "Li-Heng",
"family": "Zhang",
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"given": "Wen-Ting",
"family": "Shi",
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"abstract": "Passivity control of permanent magnet synchronous generator based on dual PWM converter can improve the system robustness. However, the DC bus voltage fluctuation still exists in the system because of the separated control for the generator-side converter and the grid-side converter. By introducing the grid-side dynamic power error into the passivity control, a novel coordinated passivity control scheme is proposed in this paper, in order to suppress the DC bus voltage fluctuation. The port controlled dissipative Hamiltonian system model of the permanent magnet synchronous generator system is established based on the dual PWM converter, furthermore, the original Hamiltonian energy function of the system is matched to the expected Hamiltonian energy function by the energy re-shaping. Moreover, the main factor of the DC bus voltage fluctuation is analyzed from the point of view of the expected Hamiltonian energy function. Compared with the traditional power feedforward control method, the system has no feedforward effect at the steady state, which proves the steady-state performance of the grid-side converter. The simulation results and the experimental results show that the proposed coordinated passivity control scheme can suppress the DC bus voltage fluctuation effectively.",
"container_title": "2018 IEEE International Conference on Industrial Electronics for Sustainable Energy Systems (IESES)",
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"issue": "",
"pages": "94--99",
"publisher": "IEEE",
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"references": [
{
"identifiers": {},
"citation": "wang, DC Bus Voltage Fluctuation Classification and Restraint Method Review for DC Microgrid. Proceedings of the CSEE (2017)"
},
{
"identifiers": {},
"citation": "xiao, DC-bus voltage control for dual PWM based on comprehensive reactive power current target. Proceedings of the 30th Chinese Control Conference (2011)"
},
{
"identifiers": {
"doi": "10.1109/jestpe.2014.2345052"
},
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},
{
"identifiers": {
"doi": "10.1109/ecce.2014.6953703"
},
"citation": "Tian, Y., Chen, Z., Deng, F., Sun, X. & Hu, Y. Coodinative control of active power and DC-link voltage for cascaded dual-active-bridge and inverter in bidirectional applications. 2014 IEEE Energy Conversion Congress and Exposition (ECCE) 2249–2256 (2014) doi:10.1109/ecce.2014.6953703"
},
{
"identifiers": {
"doi": "10.1109/cyber.2015.7288047"
},
"citation": "Shen, Y., Wu, J., Zhou, W. & Zhao, Z. Fault-tolerant strategy of dual PWM converter in wind power system. 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) 808–813 (2015) doi:10.1109/cyber.2015.7288047"
},
{
"identifiers": {
"doi": "10.1109/isdea.2012.118"
},
"citation": "Xin, W., Mingfeng, C., Li, Q., Lulu, C. & Bin, Q. Control of Direct-drive Permanent-magnet Wind Power System Grid-Connected Using Back-to-back PWM Converter. 2013 Third International Conference on Intelligent System Design and Engineering Applications 478–481 (2013) doi:10.1109/isdea.2012.118"
},
{
"identifiers": {},
"citation": "he, Passivity-based control design for Hamilton system. Electric Machines and Control (2008)"
},
{
"identifiers": {},
"citation": "kong, The design and analysis of the PI regulator of three-phase voltage source PWM rectifier. IEEE Region 10 Conference TENCON) (2015)"
},
{
"identifiers": {
"doi": "10.1109/iciea.2014.6931243"
},
"citation": "Liu, Z., Du, J., Stimming, U. & Wang, Y. Adaptive passivity-based control for speed regulation of permanent magnet synchronous motor. 2014 9th IEEE Conference on Industrial Electronics and Applications 645–649 (2014) doi:10.1109/iciea.2014.6931243"
},
{
"identifiers": {
"doi": "10.1109/apec.2014.6803543"
},
"citation": "Mash, J., Pahlevaninezhad, M. & Jain, P. Adaptive passivity-based nonlinear controller for wind energy conversion systems. 2014 IEEE Applied Power Electronics Conference and Exposition - APEC 2014 1757–1764 (2014) doi:10.1109/apec.2014.6803543"
},
{
"identifiers": {
"doi": "10.1109/powerafrica.2017.7991202"
},
"citation": "Berhanu Tuka, M., Leidhold, R. & Mamo, M. Modeling and control of a Doubly Fed Induction Generator using a back-to-back converters in grid tied wind power system. 2017 IEEE PES PowerAfrica 75–80 (2017) doi:10.1109/powerafrica.2017.7991202"
},
{
"identifiers": {
"doi": "10.1109/energycon.2012.6347750"
},
"citation": "Buticchi, G., Lorenzani, E. & Bianchini, C. Optimal system control of a back-to-back power converter for wind grid-connected converter. 2012 IEEE International Energy Conference and Exhibition (ENERGYCON) 195–200 (2012) doi:10.1109/energycon.2012.6347750"
},
{
"identifiers": {
"doi": "10.1109/ipemc.2012.6258955"
},
"citation": "Dongying Yang, Jiuhe Wang, Hao Xiang & Yuling Ma. Research on passivity-based power control of direct-driven wind power system dual-PWM converter. Proceedings of The 7th International Power Electronics and Motion Control Conference 841–845 (2012) doi:10.1109/ipemc.2012.6258955"
}
]
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"id": "ff0b7648-cc85-57b4-a863-29955f9492b0",
"identifiers": {
"doi": "10.1109/imcec66174.2025.11331603"
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"type": "proceedings-article",
"title": "Research on Energy Shaping Control Technology of Grid-Connected Inverters Under Weak Grid Conditions",
"authors": [
{
"given": "Xin",
"family": "Ding",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Guangxi Vocational College of Water Resources and Electric Power,Development Planning and Science & Technology Development Department"
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}
},
{
"given": "Qianjun",
"family": "Chen",
"literal": null,
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"affiliation": [
{
"name": "Guangxi Vocational College of Water Resources and Electric Power,Development Planning and Science & Technology Development Department"
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}
},
{
"given": "Manli",
"family": "Qin",
"literal": null,
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"affiliation": [
{
"name": "Guangxi Vocational College of Water Resources and Electric Power,Development Planning and Science & Technology Development Department"
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"abstract": "There are numerous nonlinear components in grid-connected inverter systems, such as the output saturation nonlinearity of the grid-connected current control system and the dead-time nonlinearity existing in pulse width modulation (PWM) strategies. Traditional linear control strategies based on linearized models struggle to ensure the system operates with strong robustness and global stability. To address this issue, this paper proposes an energy shaping control strategy based on the Port-Controlled Hamiltonian (PCH) model, investigating the stability of the Grid-Connected Inverter (GCI) system from the perspective of energy control. Firstly, this strategy constructs the PCH model of the GCI system in the dq coordinate system. Then, by using the interconnection and damping assignment method, the energy shaping control law is derived. This law modifies the energy flow and energy dissipation modes of the closed-loop GCI system, thereby achieving the global asymptotic stability of the system. Simulation and experimental results demonstrate that the energy shaping control strategy is simple in structure and exhibits excellent transient performance. Meanwhile, it ensures the GCI system maintains global stability and strong robustness under weak grid conditions.",
"container_title": "2025 IEEE 7th Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC)",
"publication_year": "2025",
"volume": "",
"issue": "",
"pages": "1287--1293",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2026-01-20",
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"references": [
{
"identifiers": {
"doi": "10.1109/tpel.2018.2808604"
},
"citation": "Xu J, Xie S, Zhang B, Qian Q (2018) Robust Grid Current Control With Impedance-Phase Shaping for LCL-Filtered Inverters in Weak and Distorted Grid. IEEE Trans Power Electron 33(12):10240–10250. https://doi.org/10.1109/tpel.2018.280860"
},
{
"identifiers": {
"doi": "10.1109/tie.2015.2504347"
},
"citation": "Holtz J (2016) Advanced PWM and Predictive Control—An Overview. IEEE Trans Ind Electron 63(6):3837–3844. https://doi.org/10.1109/tie.2015.250434"
},
{
"identifiers": {},
"citation": "Guo, Generalized proportional complex integral control strategy for photovoltaic grid-connected inverters[J]. Proceedings of the CSEE (2015)"
},
{
"identifiers": {
"doi": "10.1109/tie.2021.3060663"
},
"citation": "Lin P, Shi Y, Sun X-M (2022) A Class of Nonlinear Active Disturbance Rejection Loop Filters for Phase-Locked Loop. IEEE Trans Ind Electron 69(2):1920–1928. https://doi.org/10.1109/tie.2021.306066"
},
{
"identifiers": {
"doi": "10.1109/tac.2007.899064"
},
"citation": "Viola G, Ortega R, Banavar R, Acosta JA, Astolfi A (2007) Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes. IEEE Trans Automat Contr 52(6):1093–1099. https://doi.org/10.1109/tac.2007.89906"
},
{
"identifiers": {
"doi": "10.1109/tcst.2015.2417499"
},
"citation": "Yokoyama K, Takahashi M (2016) Dynamics-Based Nonlinear Acceleration Control With Energy Shaping for a Mobile Inverted Pendulum With a Slider Mechanism. IEEE Trans Contr Syst Technol 24(1):40–55. https://doi.org/10.1109/tcst.2015.241749"
},
{
"identifiers": {
"doi": "10.1080/00207179.2010.550064"
},
"citation": "Song HH, Qu YB (2011) Energy-based modelling and control of wind energy conversion system with DFIG. International Journal of Control 84(2):281–292. https://doi.org/10.1080/00207179.2010.55006"
},
{
"identifiers": {
"doi": "10.1109/iecon.2017.8217347"
},
"citation": "Fang F, Li Y, Zhang R, Liu Y (2017) An nonlinear control strategy for single-phase Quasi-Z-source grid-connected inverter. IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society 7685–769"
}
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"type": "proceedings-article",
"title": "Control using new passivity property with differentiation at both ports",
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{
"given": "Krishna Chaitanya",
"family": "Kosaraju",
"literal": null,
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{
"given": "Ramkrishna",
"family": "Pasumarthy",
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{
"given": "N.M.",
"family": "Singh",
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{
"given": "Alexander L.",
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"abstract": "Port Hamiltonian systems are usually passive with respect to port variables that are power conjugate (eg: voltage and current, force and velocity) and this lead to energy shaping control methods. But systems with ‘dissipation obstacle’ cannot be controlled using these port variables and therefore we need to search for alternative passive maps. One option is within the Brayton Moser framework, where passivity is obtained by differentiating one of the port variables. This has led to power shaping methods for control, but the solutions (if exists) obtained impose constraints on the physical parameters of the system. In this paper, starting from the Brayton Moser framework we present a new passivity property with differentiation at both the port variables. Further using this new passive map, a PI like controller is proposed and presented using parallel RLC circuit and transmission line system with non zero boundary conditions as examples.",
"container_title": "2017 Indian Control Conference (ICC)",
"publication_year": "2017",
"volume": "",
"issue": "",
"pages": "7--11",
"publisher": "IEEE",
"event": "",
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{
"identifiers": {
"doi": "10.1007/978-3-319-20988-3_15"
},
"citation": "Kosaraju, K. C. & Pasumarthy, R. Power-Based Methods for Infinite-Dimensional Systems. Lecture Notes in Control and Information Sciences 277–301 (2015) doi:10.1007/978-3-319-20988-3_15"
},
{
"identifiers": {},
"citation": "kosaraju, Alternative passive maps for infinite-dimensional systems using mixed-potential functions. IFAC Workshop Lagrangian Hamiltonian Methods Nonlinear Control (2015)"
},
{
"identifiers": {},
"citation": "luo, Stability and Stabilization of Infinite Dimensional Systems with Applications (1990)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {},
"citation": "pasumarthy, On power balancing and stabilization for a class of infinite-dimensional systems. Proc Mathematical Theory of Networks and Systems (2014)"
},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
"identifiers": {
"doi": "10.3166/ejc.16.665-677"
},
"citation": "Venkatraman, A. & van der Schaft, A. Energy Shaping of Port-Hamiltonian Systems by Using Alternate Passive Input-Output Pairs. European Journal of Control 16, 665–677 (2010)"
},
{
"identifiers": {},
"citation": "eloísa, A new passivity property of linear rlc circuits with application to power shaping stabilization. Proceeding of the 2004 American Control Conference (2004)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2009.10.012"
},
"citation": "García-Canseco, E., Jeltsema, D., Ortega, R. & Scherpen, J. M. A. Power-based control of physical systems. Automatica 46, 127–132 (2010)"
},
{
"identifiers": {
"doi": "10.1109/tcsi.2003.816332"
},
"citation": "Jeltsema, D., Ortega, R. & Scherpen, J. M. A. On passivity and power-balance inequalities of nonlinear rlc circuits. IEEE Trans. Circuits Syst. I 50, 1174–1179 (2003)"
},
{
"identifiers": {
"doi": "10.1109/tcsi.2003.816332"
},
"citation": "Jeltsema, D., Ortega, R. & Scherpen, J. M. A. On passivity and power-balance inequalities of nonlinear rlc circuits. IEEE Trans. Circuits Syst. I 50, 1174–1179 (2003)"
},
{
"identifiers": {
"doi": "10.1088/1751-8113/40/38/013"
},
"citation": "Jeltsema, D. & Schaft, A. van der. Pseudo-gradient and Lagrangian boundary control system formulation of electromagnetic fields. J. Phys. A: Math. Theor. 40, 11627–11643 (2007)"
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{
"identifiers": {
"doi": "10.1016/s1474-6670(17)38875-4"
},
"citation": "Jeltsema, D., Ortega, R. & Scherpen, J. M. A. An Energy-Balancing Perspective of Interconnection and Damping Assignment Control of Nonlinear Systems 1. IFAC Proceedings Volumes 36, 105–110 (2003)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2013.6760930"
},
"citation": "Forni, F., Sepulchre, R. & van der Schaft, A. J. On differential passivity of physical systems. 52nd IEEE Conference on Decision and Control 6580–6585 (2013) doi:10.1109/cdc.2013.6760930"
},
{
"identifiers": {
"doi": "10.1109/tcsi.2004.840481"
},
"citation": "Blankenstein, G. Geometric modeling of nonlinear RLC circuits. IEEE Trans. Circuits Syst. I 52, 396–404 (2005)"
},
{
"identifiers": {
"doi": "10.1090/qam/169746"
},
"citation": "Brayton, R. K. & Moser, J. K. A theory of nonlinear networks. I. Quart. Appl. Math. 22, 1–33 (1964)"
}
]
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"title": "Experimental validation for a Port hamiltonian model of a 802.11g/n system",
"authors": [
{
"given": "Moirangthem Sailash",
"family": "Singh",
"literal": null,
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{
"given": "Pramod",
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{
"given": "Viswanath",
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"abstract": "A port-Hamiltonian model of the traffic dynamics for a wireless communication system was developed in our previous work. The developed model takes into account various wireless communication aspects: such as a wireless path loss model, the characteristics of a wireless communication system, mac layer and network layer protocols, antenna design, latencies, buffer dynamics, acknowledgment rate and so on. In the OSI model of seven layers, the main layers responsible for the flow and control of traffic are the MAC layer and the Network layer. The model was developed based on the operation of these two layers. In this paper, we provide an experimental validation of the previously developed port-Hamiltonian model, in an indoor wireless network test bed. We demonstrate, that the analysis of the theoretical model agrees with the experimental data. This work is the first to provide an experimental demonstration of port-Hamiltonian models developed for wireless communication systems.",
"container_title": "2017 Indian Control Conference (ICC)",
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"volume": "",
"issue": "",
"pages": "372--377",
"publisher": "IEEE",
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"references": [
{
"identifiers": {},
"citation": "song, IEEE 802 11- based wireless mesh network test-bed16th IST Mobile and Wireless Communications Summit (2007)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2006.08.014"
},
"citation": "Cervera, J., van der Schaft, A. J. & Baños, A. Interconnection of port-Hamiltonian systems and composition of Dirac structures. Automatica 43, 212–225 (2007)"
},
{
"identifiers": {},
"citation": "sailash singh, Development of Path Loss Models for Localization and Creation of Wi-Fi Map in a Wireless Mesh Test-bed to be published in Springer. LNNS Conference Proceedings (2016)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2006.08.014"
},
"citation": "Cervera, J., van der Schaft, A. J. & Baños, A. Interconnection of port-Hamiltonian systems and composition of Dirac structures. Automatica 43, 212–225 (2007)"
},
{
"identifiers": {},
"citation": "Information Technology - Open System Interconnection - Basic Reference Model. The Basic Model ISO/IEC 7498-1 (1994)"
},
{
"identifiers": {},
"citation": "talasila, A port-Hamiltonian Formulation of a Wireless Communication System Mathematical Control Theory I Volume 461 of the series Lecture Notes in Control and Information Sciences (2015)"
},
{
"identifiers": {},
"citation": "thanh nguyen, Intelligent Information and Database Systems- 7th Asian Conference ACIIDS 2015 (2015)"
},
{
"identifiers": {
"doi": "10.1109/pccc.2005.1460529"
},
"citation": "Shao-Cheng Wang, Yi-Ming Chen, Tsem-Huei Lee & Helmy, A. Performance evaluations for hybrid IEEE 802.1 lb and 802.11g wireless networks. PCCC 2005. 24th IEEE International Performance, Computing, and Communications Conference, 2005. 111–118 doi:10.1109/pccc.2005.1460529"
},
{
"identifiers": {},
"citation": "van der, Schaft L2Gain and Passivity in Nonlinear Control (1999)"
},
{
"identifiers": {},
"citation": "wischik, Buffer Sizes for core routers ACM SIGCOMM Computer Communication Review (2005)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
}
]
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{
"id": "f4627b9d-77af-52a8-9e88-5a3347bda095",
"identifiers": {
"doi": "10.1109/indiancc.2018.8307979"
},
"type": "proceedings-article",
"title": "Tracking and stabilization of mechanical systems using reinforcement learning",
"authors": [
{
"given": "S",
"family": "Bhuvaneswari",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Ramkrishna",
"family": "Pasumarthy",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Balaraman",
"family": "Ravindran",
"literal": null,
"source_fields": {
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}
},
{
"given": "Arun D.",
"family": "Mahindrakar",
"literal": null,
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"abstract": "The Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) is a well-known method for control of complex physical systems in the port-Hamiltonian framework. Improvising on top of IDA-PBC which just focuses on stability, the memristive port-Hamiltonian control addresses performance concerns in the control task by providing a state-modulated damping term to IDA-PBC via a memristor element. The control way of implementing the memristive IDA-PBC first requires solving a set of Partial Differential Equations (PDEs) and then choosing a suitable memristance function for the system, out of which the former is a challenging math problem and the latter is a design problem. This paper employs reinforcement learning to learn the memristive IDA-PBC law and in the process, avoids the challenging task of solving PDEs, automates the design of the memristance function and also respects some physical system-level constraints which are not accounted for by the control way of solving IDA-PBC.",
"container_title": "2018 Indian Control Conference (ICC)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "206--211",
"publisher": "IEEE",
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{
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{
"identifiers": {},
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{
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{
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},
{
"identifiers": {},
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{
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},
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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"citation": "Acosta, J. A., Ortega, R., Astolfi, A. & Mahindrakar, A. D. Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one. IEEE Trans. Automat. Contr. 50, 1936–1955 (2005)"
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{
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"title": "The nonlinear control of Tapped inductor Buck converter based on Port-controlled Hamiltonian model",
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"given": null,
"family": "Xiaojun Guo",
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{
"given": null,
"family": "Chao Huang",
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"given": null,
"family": "Yuzhen Xu",
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"abstract": "Tapped-inductor Buck (TI-Buck) converter has the advantage of appropriate duty cycle ratio during large voltage conversion ratio and is widely used in many cases. In order to improve the performance of TI-Buck converter, the control strategy of TI-Buck converter is presented in this paper based on the energy-shaping theory of interconnection and damping assignment passivity-based control (IDA-PBC) techniques. First, the Port-controlled Hamiltonian (PCH) model of TI-Buck converter is derived. With the model, the feedback controller of TI-Buck converter is given based on IDA-PBC techniques, and the stability of system equilibrium point is analyzed. Furthermore, an integrator is added in parallel with the passive output preserving stability to avoid steady state errors induced by the presence of noise and modeling errors. In order to verify the theory expectation, computer simulation is carried out. Simulation results show that the control scheme achieves a good regulation of output voltage and let the system have a quite strong robustness, and an enough control capability to the variability of input voltage and load.",
"container_title": "2011 IEEE 33rd International Telecommunications Energy Conference (INTELEC)",
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{
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{
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{
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{
"identifiers": {
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{
"identifiers": {
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{
"identifiers": {},
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{
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{
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{
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},
{
"identifiers": {
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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"id": "62b7e086-f029-5eec-a521-b552214f76be",
"identifiers": {
"doi": "10.1109/irac63143.2024.10871253"
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"type": "proceedings-article",
"title": "Three-dimensional robust formation control for multiple uncrewed underwater vehicles based on Port-Hamiltonian theory under external disturbance",
"authors": [
{
"given": "Zehua",
"family": "Jia",
"literal": null,
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"affiliation": [
{
"name": "Hainan University,School of Information and Communication Engineering,Haikou,China"
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{
"given": "Huahuan",
"family": "Wang",
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"name": "Hainan University,School of Information and Communication Engineering,Haikou,China"
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{
"given": "Zhijian",
"family": "Sun",
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"affiliation": [
{
"name": "Shanghai Jiao Tong University,Department of Automation,China"
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{
"given": "Dongsheng",
"family": "Guo",
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{
"name": "Hainan University,School of Information and Communication Engineering,Haikou,China"
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{
"given": "Weidong",
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"name": "Hainan University,School of Information and Communication Engineering,Haikou,China"
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"abstract": "This article studies the formation control problem of multiple uncrewed underwater vehicles (UUVs) under time-varying external disturbances. The formation system is composed of a leader UUV and two follower UUVs. A three-dimensional (3D) formation robust control protocol of multi-UUV is presented based on the interconnection and damping assignment passivity-based control (IDA-PBC) method and the disturbance observer (DOB) technique. Firstly, the original UUV models are transformed into the Port-Hamiltonian (PH) structure. Next, the desired closed-loop PH system of the UUVs is constructed. With the IDA-PBC method, the design procedure of the formation controller is equal to solving matching equations, making the controller design intuitive. The DOB technique is introduced to compensate for the external time-varying disturbances to improve the robustness of the formation system. Finally, simulation results show that the proposed method accomplishes satisfactory formation performance and demonstrates the effectiveness of the proposed control protocol.",
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"pages": "454--460",
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.23919/ccc55666.2022.9901535"
},
"citation": "Li, S. et al. Experimental Research on Formation Control of UUVs Based on Behavior Rules. 2022 41st Chinese Control Conference (CCC) 4495–4500 (2022) doi:10.23919/ccc55666.2022.9901535"
},
{
"identifiers": {
"doi": "10.1016/j.arcontrol.2022.07.001"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/icma.2018.8484453"
},
"citation": "Li, J., Xue, D. & Zhang, J. Multi-UUV Formation Coordination Control Based on Combination of Virtual Structure and Leader. 2018 IEEE International Conference on Mechatronics and Automation (ICMA) 1574–1579 (2018) doi:10.1109/icma.2018.8484453"
},
{
"identifiers": {
"doi": "10.1007/978-3-642-34381-0_20"
},
"citation": "Hao, L., Gu, H., Kang, F., Yang, H. & Yang, X. Improved Virtual Leader Based Formation Control for Nonholonomic Multi-UUV. Communications in Computer and Information Science 172–180 (2012) doi:10.1007/978-3-642-34381-0_20"
},
{
"identifiers": {
"doi": "10.1109/icma.2019.8816396"
},
"citation": "Juan, L., Xu, Z., Honghan, Z. & Xue, D. Trajectory Tracking Control of Multi-AUVs Formation based on Virtual Leader. 2019 IEEE International Conference on Mechatronics and Automation (ICMA) 291–296 (2019) doi:10.1109/icma.2019.8816396"
},
{
"identifiers": {
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},
"citation": "Gao, Z. & Guo, G. Adaptive formation control of autonomous underwater vehicles with model uncertainties. International Journal of Adaptive Control and Signal Processing vol. 32 1067–1080 (2018)"
},
{
"identifiers": {
"doi": "10.1016/j.oceaneng.2024.119130"
},
"citation": "Luan, T., Bai, X., Zhang, X., Wang, M. & Sun, M. UUV two-phase formation and priority avoidance control considering steering amplitude limitation. Ocean Engineering vol. 312 119130 (2024)"
},
{
"identifiers": {
"doi": "10.1109/joe.2023.3245671"
},
"citation": "Li, J., Du, J., Li, Y. & Xu, G. Distributed Robust Prescribed Performance 3-D Time-Varying Formation Control of Underactuated AUVs Under Input Saturations and Communication Delays. IEEE Journal of Oceanic Engineering vol. 48 649–662 (2023)"
},
{
"identifiers": {
"doi": "10.1109/tvt.2023.3242657"
},
"citation": "Pang, W., Zhu, D., Chu, Z. & Chen, Q. Distributed Adaptive Formation Reconfiguration Control for Multiple AUVs Based on Affine Transformation in Three-Dimensional Ocean Environments. IEEE Transactions on Vehicular Technology vol. 72 7338–7350 (2023)"
},
{
"identifiers": {
"doi": "10.1016/j.oceaneng.2020.107402"
},
"citation": "Jia, Z., Qiao, L. & Zhang, W. Adaptive tracking control of unmanned underwater vehicles with compensation for external perturbations and uncertainties using Port-Hamiltonian theory. Ocean Engineering vol. 209 107402 (2020)"
},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2016.10.432"
},
"citation": "Fabiani, F., Fenucci, D., Fabbri, T. & Caiti, A. A Distributed, Passivity-Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network. IFAC-PapersOnLine vol. 49 367–372 (2016)"
},
{
"identifiers": {
"doi": "10.1002/9781119994138"
},
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},
{
"identifiers": {
"doi": "10.1109/tvt.2024.3376597"
},
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},
{
"identifiers": {
"doi": "10.1016/j.oceaneng.2022.111268"
},
"citation": "Jia, Z., Lu, H., Li, S. & Zhang, W. Distributed dynamic rendezvous control of the AUV-USV joint system with practical disturbance compensations using model predictive control. Ocean Engineering vol. 258 111268 (2022)"
},
{
"identifiers": {
"doi": "10.4171/022-3/65"
},
"citation": "van der Schaft, A. Port-Hamiltonian systems: an introductory survey. Proceedings of the International Congress of Mathematicians Madrid, August 22–30, 2006 1339–1365 (2007) doi:10.4171/022-3/65"
}
]
},
{
"id": "67c5967f-9e62-54be-bc5d-334f59921673",
"identifiers": {
"doi": "10.1109/irce.2018.8492935"
},
"type": "proceedings-article",
"title": "Passive Control of Permanent Magnet Direct Drive Wind Power Generation System Based on ESO",
"authors": [
{
"given": "Changle",
"family": "Li",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Qingfang",
"family": "Teng",
"literal": null,
"source_fields": {
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],
"abstract": "Considering the influence of internal parameter perturbation on the speed regulating performance of permanent magnet synchronous direct drive generator, the mathematical model of Permanent Magnet Synchronous Direct Drive Generator (PMSG) is studied from Hamiltonian energy and robustness. First, the mathematical model of port-controlled Hamiltonian system (PCHD) of PMSG system is deduced. Secondly, based on the principle of energy forming, PCHD and the extended state observer (ESO) technology, a passive current controller based on ESO is designed. In order to simplify the control algorithm and reduce the electromagnetic torque ripple, the system disturbance term is observed and compensated by ESO based on the inverse hyperbolic sine function. The simulation results show that this control method can ensure the stable operation of the system. It has strong speed tracking capability, load capability and robustness as well as has small electromagnetic torque ripple.",
"container_title": "2018 IEEE International Conference of Intelligent Robotic and Control Engineering (IRCE)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "149--153",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-10-18",
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"references": [
{
"identifiers": {
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},
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},
{
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},
{
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},
{
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{
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},
{
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{
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{
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},
{
"identifiers": {
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},
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{
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},
{
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}
]
},
{
"id": "1ef5c233-4cb9-57f2-abc0-d42d11b7890e",
"identifiers": {
"doi": "10.1109/iros.2003.1249320"
},
"type": "proceedings-article",
"title": "Delayed virtual environments: a port-hamiltonian approach",
"authors": [
{
"given": "C.",
"family": "Secchi",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "S.",
"family": "Stramigioli",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "C.",
"family": "Fantuzzi",
"literal": null,
"source_fields": {
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],
"abstract": "In this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the output is proposed.",
"container_title": "Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)",
"publication_year": "2004",
"volume": "3",
"issue": "",
"pages": "2956--2961",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2004-07-08",
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"references": [
{
"identifiers": {
"doi": "10.1109/robot.2000.846392"
},
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},
{
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},
{
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},
{
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},
"citation": "Miller, B. E., Colgate, J. E. & Freeman, R. A. Guaranteed stability of haptic systems with nonlinear virtual environments. IEEE Trans. Robot. Automat. 16, 712–719 (2000)"
},
{
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},
{
"identifiers": {
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},
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},
{
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},
{
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{
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}
]
},
{
"id": "255d8216-645e-5b25-b6aa-768157fa7781",
"identifiers": {
"doi": "10.1109/iros.2004.1389466"
},
"type": "proceedings-article",
"title": "Multi-variable port Hamiltonian model of piezoelectric material",
"authors": [
{
"given": "A.",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "A.J.",
"family": "van der Schaft",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "C.",
"family": "Melchiorri",
"literal": null,
"source_fields": {
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}
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"abstract": "In this paper, the dynamics of a piezoelectric material is presented within the new framework of multi-variable distributed port Hamiltonian systems. This class of infinite dimensional system is quite general, thus allowing the description of several physical phenomena, such as heat conduction, elasticity, electromagnetism and, of course, piezoelectricity. The key point is the generalization of the notion of finite dimensional Dirac structure in order to deal with an infinite dimensional space of power variables. In this way, the dynamics of the system results from the interconnection of a proper set of elements, each of them characterized by a particular energetic behavior, while the interaction with the environment is described in terms of mechanical and electrical boundary ports.",
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{
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"citation": "Stramigioli, S., Secchi, C., van der Schaft, A. J. & Fantuzzi, C. A novel theory for sampled data system passivity. IEEE/RSJ International Conference on Intelligent Robots and System vol. 2 1936–1941"
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"doi": "10.1109/tra.2002.802200"
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"citation": "Stramigioli, S., van der Schaft, A., Maschke, B. & Melchiorri, C. Geometric scattering in robotic telemanipulation. IEEE Transactions on Robotics and Automation vol. 18 588–596 (2002)"
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"doi": "10.1109/robot.2004.1302436"
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"citation": "Berestesky, P., Chopra, N. & Spong, M. W. Discrete time passivity in bilateral teleoperation over the Internet. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA ’04. 2004 4557-4564 Vol.5 (2004) doi:10.1109/robot.2004.1302436"
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"doi": "10.1016/s0921-8890(01)00164-6"
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"citation": "Arcara, P. & Melchiorri, C. Control schemes for teleoperation with time delay: A comparative study. Robotics and Autonomous Systems vol. 38 49–64 (2002)"
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{
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{
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{
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"doi": "10.1109/iros.2003.1249298"
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"citation": "Secchi, C., Stramigioli, S. & Fantuzzi, C. Dealing with unreliabilities in digital passive geometric telemanipulation. Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) vol. 3 2823–2828"
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"type": "proceedings-article",
"title": "Power scaling in port-Hamiltonian based telemanipulation",
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"given": "C.",
"family": "Secchi",
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"abstract": "In several applications involving bilateral telemanipulation, master and slave robots act at different power scales (e.g. telesurgery). The aim of this paper is to embed power scaling into port-Hamiltonian based bilateral telemanipulation schemes, In order to deal with nonnegligible transmission delays we propose a novel scattering based communication strategy to properly scale the power exchanged by master and slave while preserving a stable behavior of the overall scheme.",
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"citation": "Arcara, P. & Melchiorri, C. Control schemes for teleoperation with time delay: A comparative study. Robotics and Autonomous Systems vol. 38 49–64 (2002)"
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{
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"citation": "anderson, Asymptotic stability for force reflecting teleoperators with time delays. Proceedings of IEEE International Conference on Robotics and Automation (1989)"
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{
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"doi": "10.1109/robot.2002.1013670"
},
"citation": "Speich, J. E. & Goldfarb, M. Implementation of loop-shaping compensators to increase the transparency bandwidth of a scaled telemanipulation system. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) vol. 3 2886–2893"
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{
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"citation": "Anderson, R. J. & Spong, M. W. Bilateral control of teleoperators with time delay. IEEE Transactions on Automatic Control vol. 34 494–501 (1989)"
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{
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"doi": "10.1109/tra.2003.810576"
},
"citation": "Dongjun Lee & Li, P. Y. Passive bilateral feedforward control of linear dynamically similar teleoperated manipulators. IEEE Transactions on Robotics and Automation vol. 19 443–456 (2003)"
},
{
"identifiers": {},
"citation": "itoh, Human-machine cooperative telemanipulation wit motion and force scaling using task-oriented virtual tool dynamics. IEEE Transactions on Robotics and Automation (2003)"
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{
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"citation": "Colgate, J. E. Power and impedance scaling in bilateral manipulation. Proceedings. 1991 IEEE International Conference on Robotics and Automation 2292–2297 doi:10.1109/robot.1991.131973"
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{
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"doi": "10.1109/robot.2004.1302439"
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"citation": "Boukhnifer, M., Ferreira, A. & Fontaine, J.-G. Scaled teleoperation controller design for micromanipulation over Internet. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA ’04. 2004 4577-4583 Vol.5 (2004) doi:10.1109/robot.2004.1302439"
},
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"doi": "10.1109/robot.2003.1242098"
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"citation": "Secchi, C., Stramigioli, S. & Fantuzzi, C. Digital passive geometric telemanipulation. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) vol. 3 3290–3295"
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{
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"citation": "Niemeyer, G. & Slotine, J.-J. E. Stable adaptive teleoperation. IEEE Journal of Oceanic Engineering vol. 16 152–162 (1991)"
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"citation": "Stramigioli, S., van der Schaft, A., Maschke, B. & Melchiorri, C. Geometric scattering in robotic telemanipulation. IEEE Transactions on Robotics and Automation vol. 18 588–596 (2002)"
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"abstract": "Nonlinear model for transverse dynamics of a vibrating beam is derived. In this modeling large deformation for beam is considered and consequently, high order curvature terms are not neglected. An adaptation method for applying large moments in the beam tip is developed using FEM. Port Hamiltonian interconnected system modeling is used to model the resulted configuration. The energy-based variable structure method is utilized to develop an interconnected controller with energy function associated with a set of Casimir functions relating to sliding surfaces. The energy function of the controller is chosen to make an attractive sliding surface for closed-loop system. Using this system, vibration of the nonlinear beam is stabilized in the desired shape of the beam.",
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"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
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{
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"citation": "van der schaft, Composition of dirac structures and control of port-hamiltonian systems. GeoPlex (2000)"
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{
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{
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{
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{
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"citation": "van der schaft, Implicit port Controlled Hamiltonian systems. Journal of the Society of Instrument and Control Engineers of Japan (SICE) (2000)"
},
{
"identifiers": {},
"citation": "van der schaft, Port-controlled Hamiltonian systems: Toward a theory for control and design of nonlinear physical systems. Journal of the Society of Instrument and Control Engineers of Japan (SICE) (2000)"
},
{
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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"doi": "10.1109/iros.2006.281915"
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"type": "proceedings-article",
"title": "Position Drift Compensation in Port-Hamiltonian Based Telemanipulation",
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{
"given": "Cristian",
"family": "Secchi",
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"abstract": "Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables. The magnitude of this position mismatch can be significant during interaction tasks. In this paper we propose a passivity preserving scheme for compensating the position drift arising during contact tasks in port-Hamiltonian based telemanipulation improving the kinematic perception of the remote environment felt by the human operator",
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{
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"doi": "10.1109/tro.2004.842330"
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"citation": "Stramigioli, S., Secchi, C., van der Schaft, A. J. & Fantuzzi, C. Sampled data systems passivity and discrete port-Hamiltonian systems. IEEE Transactions on Robotics vol. 21 574–587 (2005)"
},
{
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"doi": "10.1007/978-1-4471-0507-7"
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"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
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{
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"citation": "Niemeyer, G. & Slotine, J.-J. E. Stable adaptive teleoperation. IEEE Journal of Oceanic Engineering vol. 16 152–162 (1991)"
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{
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},
"citation": "Stramigioli, S., van der Schaft, A., Maschke, B. & Melchiorri, C. Geometric scattering in robotic telemanipulation. IEEE Transactions on Robotics and Automation vol. 18 588–596 (2002)"
},
{
"identifiers": {},
"citation": "arcara, Position drift compensation for a passivitybased telemanipulation control scheme. Proceedings to Mechatronics Conference (2002)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/acc.2003.1238930"
},
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},
{
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{
"identifiers": {},
"citation": "secchi, Interactive robotic interfaces: A port-hamiltonian approach. (2004)"
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{
"identifiers": {},
"citation": "stramigioli, Modeling and IPC Control of Interactive Mechanical Svstems: A coordinate free approach. ser LNCIS (2001)"
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{
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"title": "Exact structured singular value of robotic manipulators and quantitative analysis of passivity based control",
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"family": "Sakai",
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{
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"abstract": "This paper gives an exact and explicit expression of the structured singular value for robotic manipulators with a passivity based control in port-controlled Hamiltonian form, even though it is not possible to give the exact or explicit structured singular value for general systems. First, we focus on dynamics with endlink mass perturbation after the settling time. Second, we derive the exact and explicit structured singular value for manipulators by using structural properties of the dynamics. The derived structured singular value is nothing but the structured singular value of manipulators without control because the passivity based control preserves the Hamiltonian structure. Furthermore, based on the derived structured singular value, we quantitatively analyze the robust stability of robotic manipulators with the passivity based control",
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"pages": "2053--2058",
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{
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"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
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{
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{
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},
{
"identifiers": {
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{
"identifiers": {
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},
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},
{
"identifiers": {},
"citation": "satoru sakai, Dynamic Output Feedback Stabilization for a class of Nonholonomic Hamiltonian Systems. SICE 2004 Annual Conference (2004)"
},
{
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"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
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{
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{
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{
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},
{
"identifiers": {
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},
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},
{
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},
{
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{
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{
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{
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"title": "Passivity based control of hydraulic robot arms using natural Casimir functions: Theory and experiments",
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"given": "S.",
"family": "Sakai",
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"abstract": "This paper gives a new passivity based control of hydraulic arms based on a new model using ldquonaturalrdquo Casimir functions. Not only passivity but also Casimir functions are used in the modeling and control as a new structural property. First, we refer port-Hamiltonian systems and their properties. Second, we propose two stabilization methods, a new dynamic asymptotic stabilization method and a new partial stabilization method. Third, we give a new model of hydraulic arms using Casimir functions. Furthermore, the proposed two stabilization methods are applied to this model and finally, the validity of our methods are confirmed by not only numerical simulations but also experiments even thought the bulk modulus is not identified at all.",
"container_title": "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems",
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"pages": "538--544",
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{
"identifiers": {
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{
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{
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{
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{
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{
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{
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},
{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.1109/iros.2009.5353947"
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"type": "proceedings-article",
"title": "Motion planning for a high-speed manipulator with mechanical joint stops based on target dynamics and PCH system",
"authors": [
{
"given": "S.",
"family": "Sakai",
"literal": null,
"source_fields": {
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{
"given": "C.",
"family": "Xu",
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{
"given": "A.",
"family": "Ming",
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{
"given": "M.",
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"abstract": "This paper reports a motion planning scheme for a high performance robot aiming to realize the motion control skills exhibited by professional golfers. The robot has a dexterous mechanism with similar distribution of actuators' capability and a pair of mechanical joint stops like human beings. The proposed motion planning method combines target dynamics together with port-controlled Hamiltonian (PCH) system theory resulting in an energy controller which not only takes the mechanical joint stops into account but also realizes torque compensation from a high-power actuator to a low-power actuator. Simulation and experimental results prove the proposed method can generate the golf swings with specified hitting speed and finish position for our specially designed robot.",
"container_title": "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "279--284",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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}
]
},
{
"id": "1089c5e5-5cbd-563f-b9dd-4ad8c83f6907",
"identifiers": {
"doi": "10.1109/iros.2010.5650866"
},
"type": "proceedings-article",
"title": "Port-hamiltonian modeling for soft-finger manipulation",
"authors": [
{
"given": "F",
"family": "Ficuciello",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "R",
"family": "Carloni",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "L C",
"family": "Visser",
"literal": null,
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"affiliation": []
}
},
{
"given": "S",
"family": "Stramigioli",
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],
"abstract": "In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach.",
"container_title": "2010 IEEE/RSJ International Conference on Intelligent Robots and Systems",
"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "4281--4286",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2010-12-10",
"permalink": "port-hamiltonian-modeling-for-soft-finger-manipulation",
"references": [
{
"identifiers": {},
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},
{
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},
{
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},
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},
{
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},
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},
{
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{
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{
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{
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{
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},
{
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},
{
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},
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},
{
"identifiers": {
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},
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},
{
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},
{
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},
{
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},
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}
]
},
{
"id": "1b3fe157-2c2b-500b-8027-d7befad20857",
"identifiers": {
"doi": "10.1109/iros.2012.6385457"
},
"type": "proceedings-article",
"title": "Switching-based mapping and control for haptic teleoperation of aerial robots",
"authors": [
{
"given": "Abeje Y.",
"family": "Mersha",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Stefano",
"family": "Stramigioli",
"literal": null,
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{
"given": "Raffaella",
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],
"abstract": "This paper deals with the bilateral teleoperation of underactuated aerial robots by means of a haptic interface. In particular, we propose a switching-based state mapping and control algorithm between a rate-based passive controller, which addresses the workspace incompatibility between the master and slave systems, and a pose-based passive controller, which is required for precise operation. The overall control architecture provides the possibility of changing the scaling factor of the mapping online, while preserving the passivity of the complete system. In our formulation, we use the port-Hamiltonian framework, in which energetic considerations play a determinant role for passivity and, thereby stability of the overall system. Simulation and experimental results illustrating the effectiveness of the proposed algorithm are also presented.",
"container_title": "2012 IEEE/RSJ International Conference on Intelligent Robots and Systems",
"publication_year": "2012",
"volume": "",
"issue": "",
"pages": "2629--2634",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2013-01-03",
"permalink": "switching-based-mapping-and-control-for-haptic-teleoperation-of-aerial-robots",
"references": [
{
"identifiers": {
"doi": "10.1109/icra.2011.5980053"
},
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},
{
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},
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},
{
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},
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},
{
"identifiers": {
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},
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},
{
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},
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{
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},
{
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},
{
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},
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{
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},
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},
{
"identifiers": {
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"title": "Energy based control of compass gait soft limbed bipeds",
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"given": "Isuru S.",
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"abstract": "Soft limb locomotion is a relatively new and challenging research field. However, soft limbs can not yet transition to practical application due to difficulties associated with control methods. Motivated by this research problem, in this paper, we investigate the performance of energy based control of underactuated soft limbed systems. We augment the previously reported energy shaping function for rigid bipeds with a new set of functions for the novel class of underactuated compass gait soft bipeds. We evaluate the controller performance and identify desired features and characteristics for better speed performance of such a biped. The proposed energy shaping functions are compared through controlled Lagrangian (CL) method for Euler-Lagrangian (EL) models and interconnection and damping assignment passivity-based control (IDA-PBC) methods for port-controlled Hamiltonian (PCH) models. Results for system stability, speed performance, and input torque profiles are compared. The IDA-PBC controllers are observed to produce better input torque and performance over the CL methods.The findings assist in extending and developing novel controllers to implement on soft limbed robots for practical control applications of soft multi-continuum limbed robots.",
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"type": "proceedings-article",
"title": "Compliant manipulators on graphs",
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"given": "S.S.",
"family": "Groothuis",
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"abstract": "This paper proposes a modeling method for generic serial-chain compliant robotic manipulators. It is based on graph theory and port-Hamiltonian systems, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity allows a very simple and straight-forward change in a manipulator's actuator morphology. An example of a two degree of freedom planar manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than traditional Euler-Lagrange models.",
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"type": "proceedings-article",
"title": "Passive Nonlinear Impedance Control for Port-Hamiltonian Systems",
"authors": [
{
"given": "Yuki",
"family": "Okura",
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"abstract": "This paper describes a procedure to design a passive nonlinear impedance control for port-Hamiltonian systems. By expressing the system with the port-Hamiltonian system, the proposed method can be applied to the nonholonomic system as well as fully actuated mechanical systems. The feedback controller for nonlinear impedance control is acquired by utilizing the results of generalized canonical transformation for port-Hamiltonian system. In addition, we investigate the passivity of the closed loop system and discuss the characteristics of the controlled system. A numerical simulation of two-wheeled vehicle shows the effectiveness of the proposed control method.",
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"issue": "",
"pages": "7983--7988",
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"type": "proceedings-article",
"title": "Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots",
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"abstract": "This paper presents a novel control approach, based on the interconnection and damping-assignment passivity-based control (IDA-PBC), to achieve stable and periodic walking for underactuated planar biped robots with one degree of underactuation. The system's physical structure is preserved by assigning a target port-Hamiltonian dynamics to the closed-loop system, which also ensures passivity. The control design ensures that the tracking error to the desired periodic gait converges exponentially to zero, and the convergence rate can be adjusted via gain tuning. Besides, through the hybrid zero dynamics, the stability of the full-order system can be retrieved from the stability of the orbit created in a lower-dimensional manifold. The proposed approach is the first example of a tracking controller based on the IDA-PBC applied to underactuated biped robots. Numerical simulations on a five-link planar biped robot with unactuated ankles validate the approach and show the performance of the closed-loop system.",
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{
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"citation": "Arpenti, P., Ruggiero, F. & Lippiello, V. A Constructive Methodology for the IDA-PBC of Underactuated 2-DoF Mechanical Systems with Explicit Solution of PDEs. International Journal of Control, Automation and Systems vol. 20 283–297 (2022)"
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},
{
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},
{
"identifiers": {
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},
{
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{
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{
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{
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"doi": "10.1109/iros51168.2021.9636472"
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"type": "proceedings-article",
"title": "Impedance Control for a Flexible Robot Enhanced with Energy Tanks in the port-Hamiltonian Framework",
"authors": [
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"given": "Martin",
"family": "Mujica",
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{
"given": "Alejandro",
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"given": "Mourad",
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"given": "Jean-Yves",
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"abstract": "In modern robotics, the manipulators are no longer isolated under fully controlled conditions but rather conceived to work in unconstrained environments. Under these operations, compliant control and passivity properties of the robot are of great importance, and thus the system’s energy function plays a crucial role in the control design. In this work, we propose a new design of cartesian impedance control for a flexible robot whose dynamics is represented within the port-Hamiltonian framework. To improve the performance of the system and maximize the capabilities of the robot, the robotic control system is enhanced with energy tanks that allow for temporarily non-passive operations, but ensure the passivity of the extended system. In addition, a secondary controller is designed using the port-Hamiltonian approach to cover the case of redundant robotic manipulators. The performance of the full control system is tested via simulations of the Kuka iiwa manipulator in closed loop with the proposed passivity-based controller. The results show a satisfactory performance of the control system for set-point regulation, external forces, time-varying reference trajectories, and parametric uncertainty.",
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"issue": "",
"pages": "9283--9289",
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"references": [
{
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{
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{
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{
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{
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},
{
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"type": "proceedings-article",
"title": "A port-Hamiltonian approach to secondary voltage control of microgrids",
"authors": [
{
"given": "Mahya",
"family": "Adibi",
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{
"given": "Jacob W.",
"family": "van der Woude",
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"given": "Dimitri",
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"abstract": "This paper presents a secondary voltage control scheme for microgrids based on the port-Hamiltonian modeling framework. The proposed secondary controller compensates the deviations of voltage amplitudes from their nominal values using the concept of energy shaping, which is the essence of passivity-based control in port-Hamiltonian systems. We shape the energy function and define a new Hamiltonian function such that the new potential energy function has a strict local minimum at the desired equilibrium point. Next, a feedback control is designed such that the closed-loop system preserves the port-Hamiltonian structure. The Hamiltonian in this case is the sum of the plant and the controllers energy functions. The stability analysis is performed and sufficient conditions on the controller gains to achieve voltage regulation are derived. The effectiveness of the proposed control methodology is evaluated using simulation for a benchmark microgrid system.",
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"pages": "1--6",
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"authors": [
{
"given": "Arkaitz",
"family": "Rabanal",
"literal": null,
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"affiliation": [
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"name": "NTNU,Dept. of Electric Energy,Trondheim,Norway"
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}
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"given": "Salvatore",
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"name": "SINTEF Energy Research,Dept. of Energy Systems,Trondheim,Norway"
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"given": "Elisabetta",
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"name": "NTNU,Dept. of Electric Energy,Trondheim,Norway"
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"abstract": "The operation of converters interconnecting ac and dc grids in future inertia-free and weak networks poses significant challenges. Modular multilevel converters applying dual grid-forming controls are able to effectively synchronize to weak grids and control the dc voltage levels simultaneously. This paper proposes an enhanced dual grid-forming strategy based on an equivalent voltage representing the converter’s internal energy. The converter’s control variables have been redesigned in order to improve system stability margins while at the same time preserving the macroscopic port-Hamiltonian structure of the converter. The correct operation of the converter for different grid inertia constants has been proved through small-signal and time-domain simulations, including inertia-free conditions. Moreover, the system is stable at both very weak and strong grid conditions, with short circuit ratios from 1 to 30.",
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"references": [
{
"identifiers": {
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},
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},
{
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},
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},
{
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},
{
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},
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},
{
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},
{
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},
{
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},
{
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},
{
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{
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},
{
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{
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"doi": "10.1109/isic.2012.6398256"
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"type": "proceedings-article",
"title": "Output synchronization of multi-machine power system using dissipative Hamiltonian realization",
"authors": [
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"given": "Seung-Ju",
"family": "Lee",
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"abstract": "Interconnected power grid becomes more complex and tends to be vulnerable to unwanted disturbances; thus, transient stability of the power system becomes an important research topic. In this paper, we propose a control law that not only enhances the transient stability but also makes the system to satisfy output synchronization. The key idea of this paper is that the power system can be realized as Port-Controlled Hamiltonian(PCH) model and the model automatically satisfies the passivity with respect to input and output relationship. Using the property, we can analyze the output synchronization by employing consensus algorithm. Through simulation results, we evaluate the synchronization analysis.",
"container_title": "2012 IEEE International Symposium on Intelligent Control",
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"issue": "",
"pages": "939--943",
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"doi": "10.1109/isic.2015.7307278"
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"type": "proceedings-article",
"title": "Control by interconnection of a manipulator arm using reinforcement learning",
"authors": [
{
"given": "S. P.",
"family": "Nageshrao",
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{
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{
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{
"given": "R.",
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"abstract": "Control by interconnection (CbI) is a dynamic output-feedback approach used to control port-Hamiltonian (PH) systems. Here, both the plant and the controller are modelled in PH form, in terms of their own Hamiltonians. However, obtaining an appropriate controller Hamiltonian is generally difficult. In this paper, we address this issue by using reinforcement learning (RL). Additionally due to the semi-supervised optimization nature of the RL algorithms, a performance criterion can be readily included in CbI. We demonstrate the usefulness of the proposed learning algorithm for stabilization of a manipulator arm.",
"container_title": "2015 IEEE International Symposium on Intelligent Control (ISIC)",
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"pages": "47--52",
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{
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{
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{
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{
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{
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{
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{
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{
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"identifiers": {
"doi": "10.1109/ismsit.2019.8932856"
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"type": "proceedings-article",
"title": "An Adaptive Passivity Based Control of Grid Connected VSC with Integral Action",
"authors": [
{
"given": "Akin",
"family": "USLU",
"literal": null,
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{
"given": "Necdet Sinan",
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"given": "Timur",
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"abstract": "In this paper, we propose improved passivity based control (PBC) strategy for grid connected voltage source converter (VSC). In order to provide global asymptotical stability of the closed loop control system in the sense of Lyapunov approach, VSC is modelled within port-Hamiltonian framework. Classical PBC techniques are insufficient to achieve zero steady state tracking error. To eliminate this errors caused by constant disturbances, integrator is inserted into to the proposed PBC. Furthermore, designed adaptive observer allows sensorless operation for the proposed method. Simulation results are presented to validate the proposed controller.",
"container_title": "2019 3rd International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)",
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"issue": "",
"pages": "1--6",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2019-12-17",
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
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{
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{
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{
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{
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"abstract": "In this paper, the problem of stability analysis of time-delayed port-Hamiltonian systems with probabilistic time-varying delay has been considered. The time-delay variation range is divided into two sub-intervals. By considering the probability distribution of the time-varying delay between the two sub-intervals and the knowledge of the delay variation range, a novel linear matrix inequality (LMI) based stability condition is derived by defining a Lyapunov-Krasovskii functional. It is illustrated with the help of a numerical example that as the probability of delay taking a small value increases, the upper delay bound increases.",
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"abstract": "This article proposes a modified interconnection and damping assignment passivity-based control (IDA-PBC) for dc/dc converter cascaded with an LC filter. The plant is modeled using the port-controlled Hamiltonian (PCH) form. The main objective is to stabilize the cascaded system in case the system supplies constant power load (CPL). To solve the instability issues caused by tightly controlled cascaded systems, the IDA-PBC based on an overall PCH model, including LC input filter and dc/dc converter, is established. Moreover, to ensure that the proposed IDA-PBC admits one unique solution, an adaptive interconnection matrix is designed to build the internal links in the PCH model. Furthermore, in order to improve the implementation on an onboard dc microgrid application with time-varying CPLs, a modified IDA-PBC algorithm is proposed based on the error between the state vector and the desired operating point, which might be variable. The closed-loop Hamiltonian function is chosen as the Lyapunov candidate function to guarantee that the system operates in a stable manner. The virtual damping assignment technique is addressed to tune the dynamic characteristic of the closed-loop system. Simulation and experimental results are carried out to illustrate the proposed method’s effectiveness.",
"container_title": "IEEE Journal of Emerging and Selected Topics in Power Electronics",
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"doi": "10.1109/jestpe.2020.3034464"
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"type": "journal-article",
"title": "Generalized IDA-PBC Control Using Enhanced Decoupled Power Sharing for Parallel Distributed Generators in Standalone Microgrids",
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"abstract": "The development of an advanced modular control strategy for distributed generation-based islanded MicroGrids (MGs) is proposed in this article. This control strategy aims at achieving robust performances and accurate load power sharing in spite of system architecture. This strategy is based on the interconnection and damping assignment passivity-based control (IDA-PBC), which provides sufficient conditions to ensure the system modularity and stability. The design methodology of the proposed method is declined into three important steps. The whole system is modeled using the port-controlled Hamiltonian (PCH) formalism, the Hamiltonian function is minimized to synthesize the corresponding control laws, and finally, the stability of the synthesized control laws is verified. In this work, the Hamiltonian function is augmented with an enhanced decoupled droop (E2D) control in order to guarantee the stability of the whole system and ensure accurate power sharing when multiple DG units are interconnected. The effectiveness and modularity of the proposed modular IDA-PBC control with the E2D technique are evaluated and compared with a recent control strategy using an inner proportional-integral control with a decoupled droop technique. Experimental results and discussions are provided under resistive–inductive and nonlinear loading conditions.",
"container_title": "IEEE Journal of Emerging and Selected Topics in Power Electronics",
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"issue": "4",
"pages": "5069--5082",
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"abstract": "As the crucial interface of renewable energy integration, the stable operation of power converters under grid faults and external disturbances has become much more important. However, synchronization instability of grid-tied inverters has been found caused by the phase-locked loop (PLL) under some critical operating conditions, such as the grid voltage sag, current surge, and transmission line faults. Due to the strong nonlinearity, transient stability analysis of inverters with PLL becomes much more complicated under large-signal perturbations and weak grid conditions. In this article, the large-signal synchronization stability of grid-tied inverters is investigated from the energy perspective. Based on the structural resemblance between the PLL and synchronous generator, the energy function is constructed to establish a port-Hamiltonian model for the grid-tied inverter. For the nonlinear inverter system, an explicit Hamilton-based stability criterion is developed for grid-tied converters according to the concept of dissipativity and LaSalle’s theorem. Moreover, the analytical stability boundary is acquired based on the proposed stability criterion and attraction region estimation, covering both controller parameters and grid parameters. To verify the effectiveness of the proposed analysis approach, extensive simulation and experimental results are presented. Compared with the conventional large-signal methods, the proposed Hamilton-based approach has explicit physical meaning and high accuracy.",
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"abstract": "Maintaining bus voltage stability is a central challenge in dc microgrids (MGs). This article introduces a decentralized adaptive energy-shaping approach (DEC) that seamlessly merges constant voltage and droop mode (DM) controls, ensuring the comprehensive large-signal stability of the MG. Central to the DEC’s architecture is its stratification of the MG into autonomous distributed unit (DU) subsystems. Using a nonlinear observer, this strategy effectively recognizes the electrical interactions among individual DU subsystems, obviating auxiliary output current sensors. This structured approach breaks down the intricate stability challenges of the MG into more manageable sections. These sections are carefully designed to address estimated couplings and reinforce each DU subsystem’s resilience. The introduced stabilization method, inspired by the passivity-based port-controlled Hamiltonian (pcH) system theory, adopts a passive control damping mechanism coupled with a dynamically adjusted interconnection coefficient. This ensures a smooth stability of DU subsystems, even when faced with significant disturbances. Rigorous theoretical analyses, underpinned by the Lyapunov theorem, corroborate the systemic stability conferred by the DEC design. Furthermore, it demonstrates robustness against unforeseen input voltage variations. Simulations and experiments demonstrate that the proposed control approach accelerates system recovery and broadens the stability margin.",
"container_title": "IEEE Journal of Emerging and Selected Topics in Power Electronics",
"publication_year": "2024",
"volume": "12",
"issue": "4",
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"abstract": "This article presents a port-controlled Hamiltonian (PCH)-based direct power control (DPC) architecture for a back-to-back (B2B) modular multilevel converter (MMC) system connecting two ac sources at different frequencies. The system features advanced grid support functionalities based on IEEE 1547-2018, implemented on the inverter side. The rectifier-side controller ensures reference following for active and/or reactive powers and maintains the commanded dc bus voltage. The inverter-side controller ensures power command following for active and reactive powers. The proposed control architecture is designed to suppress second-harmonic oscillations in powers during unbalanced grid voltage sags by dynamically adjusting the currents on each ac side. This also ensures effective elimination of any second-harmonic oscillations in the equivalent dc bus voltage. Validation is performed on an OPAL-RT Technologies Inc. (OPAL-RT) real-time platform with case studies on unbalanced and balanced sags, demonstrating the controller’s effectiveness during real-time implementation. A reduced-scale laboratory prototype further verifies these case studies, with experimental results for balanced sags due to grid simulator limitations. The results confirm the robustness and efficiency of the proposed control strategy in ensuring stable and reliable operation under various grid conditions.",
"container_title": "IEEE Journal of Emerging and Selected Topics in Power Electronics",
"publication_year": "2025",
"volume": "13",
"issue": "4",
"pages": "5022--5047",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"created_date": "2025-05-12",
"permalink": "analysis-of-transformer-magnetizing-reactance-using-describing-function-in-direct-power-control-of-back-to-back-modular-multilevel-converter-with-advanced-grid-support",
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"abstract": "In this paper, we consider memristors, meminductors, and memcapacitors and their properties as port-Hamiltonian systems. The port-Hamiltonian formalism naturally arises from network modeling of physical systems in a variety of domains. Exposing the relation between the energy storage, dissipation, and interconnection structure, this framework underscores the physics of the system. One of the strong aspects of the port-Hamiltonian formalism is that a power-preserving interconnection between port-Hamiltonian systems results in another port-Hamiltonian system with composite energy, dissipation, and interconnection structure. This feature can advantageously be used to model, analyze, and simulate networks consisting of complex interconnections of both conventional and memory circuit elements. Furthermore, the port-Hamiltonian formalism naturally extends the fundamental properties of the memory elements beyond the realm of electrical circuits.",
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"abstract": "Algebraic graph theory is a cornerstone in the study of electrical networks ranging from miniature integrated circuits to continental-scale power systems. Conversely, many fundamental results of algebraic graph theory were laid out by early electrical circuit analysts. In this paper, we survey some fundamental and historic as well as recent results on how algebraic graph theory informs electrical network analysis, dynamics, and design. In particular, we review the algebraic and spectral properties of graph adjacency, Laplacian, incidence, and resistance matrices and how they relate to the analysis, network reduction, and dynamics of certain classes of electrical networks. We study these relations for models of increasing complexity ranging from static resistive direct current (dc) circuits, over dynamic resistor..inductor..capacitor (RLC) circuits, to nonlinear alternating current (ac) power flow. We conclude this paper by presenting a set of fundamental open questions at the intersection of algebraic graph theory and electrical networks.",
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"abstract": "This letter deals with nonlinear repetitive control (RC), a technique used to reject periodic disturbances with a known and constant period. Since RC systems are defined over a state space of infinite dimension, the main theoretical problem that makes nonlinear case not trivial resides in the lack of adequate mathematical tools to study well-posedness of the closed-loop system and regularity of the solutions. Here, the stability analysis relies on recent results about the boundary control of infinite-dimensional port-Hamiltonian systems via nonlinear regulators, and the major contribution is the definition of a class of nonlinear plants for which a RC scheme is, at first, well-posed, and then exponentially stable. Moreover, an explicit proof of perfect local asymptotic tracking and disturbance rejection for exponentially stable RC systems is provided.",
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{
"identifiers": {
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{
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{
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"doi": "10.1016/j.automatica.2017.07.045"
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"citation": "Ramirez, H., Zwart, H. & Le Gorrec, Y. Stabilization of infinite dimensional port-Hamiltonian systems by nonlinear dynamic boundary control. Automatica 85, 61–69 (2017)"
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},
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"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
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"doi": "10.1007/978-1-4612-4224-6"
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"doi": "10.1007/978-3-0348-0399-1"
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"doi": "10.1109/9.1274"
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"identifiers": {
"doi": "10.1109/tac.2014.2315754"
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"title": "On Exact Controllability of Infinite-Dimensional Linear Port-Hamiltonian Systems",
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"abstract": "Infinite-dimensional linear port-Hamiltonian systems on a 1-D spatial domain with full boundary control and without internal damping are studied. This class of systems includes models of beams and waves as well as the transport equation and networks of nonhomogeneous transmission lines. The main result shows that well-posed port-Hamiltonian systems, with state space $L^{2}{(}{(}0{,}1{)}{;}~\\mathbb C^{n}{)}$ and input space $\\mathbb C^{n}$, are exactly controllable.",
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"doi": "10.1109/lcsys.2020.2994262"
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"type": "journal-article",
"title": "On Matched Disturbance Suppression for Port-Hamiltonian Systems",
"authors": [
{
"given": "Joel",
"family": "Ferguson",
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{
"given": "Dongjun",
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"abstract": "In this letter, we consider the robustification of port-Hamiltonian systems with respect to matched time-varying disturbances generated by an exo-system, which is assumed to be known. This letter is an extension, to the case of time-varying disturbances, of recent integral action techniques, which are able to reject constant disturbances only. The approach is then extended to the special case of sinusoidal disturbances with unknown frequency. The main results of this letter are demonstrated on a 2 degree-of-freedom robotic manipulator.",
"container_title": "IEEE Control Systems Letters",
"publication_year": "2020",
"volume": "4",
"issue": "4",
"pages": "892--897",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"references": [
{
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{
"identifiers": {
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{
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"abstract": "Scientists have long been attracted to mechanisms surrounding the predator–prey system. The Lotka–Volterra (LV) model is the most popular formalism used to investigate the dynamics of this system. LV equations present non-linear dynamics that exhibit periodic oscillations in both prey and predator populations. In practical situations, it is useful to stabilise the system asymptotically to a desired set point (population) wherein the two species coexist by fashioning specific control actions. This control strategy can be beneficial for problems that can arise when there is a risk of extinction of one of the species and human intervention must be planned. One natural and well-established theory for describing systems obeying energy balance laws is the port-Hamiltonian modeling, an extension of classical Hamiltonian mechanics to systems endowed with control and observation. The LV model can be formally represented as a non-linear mechanical oscillator employing the canonical equations of Hamilton. This special mathematical structure aids planning and designing efficient control actions. The proposed strategy employs a systematic procedure to efficiently plan biological control actions and bypass species extinction through asymptotic stabilisation of populations.",
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"abstract": "This letter deals with interconnection and damping assignment for discrete-time port-Hamiltonian systems. Based on a novel state representation, suitably shaped to address energy-based control design, the nonlinear discrete-time controller is characterized and the solution is explicitly computed in the linear case. The design worked out on the exact sampled-data model of a mechanical system confirms the effectiveness of the controller.",
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"title": "A Passivity Based Sliding Mode Controller for Simple Port-Hamiltonian Systems",
"authors": [
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"given": "Kenji",
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"abstract": "This letter proposes a novel framework to design a passivity based sliding mode controller for mechanical systems described by simple port-Hamiltonian systems. For this class of systems, passivity based control is often used to design a stabilizing controller which employs a physical energy of the plant system as a Lyapunov function candidate. This letter proves that there exist a special class of passivity based controllers which coincide with sliding mode ones. This approach enables us to obtain sliding mode control systems with explicit energy based Lyapunov functions. The proposed approach requires a kind of matching condition under which the two control schemes coincide with each other. How to relax the condition is also discussed. Furthermore, a numerical example demonstrates how the proposed method works.",
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"abstract": "In this letter, we propose a passivity-based control technique, where the resulting controllers can be interpreted as lag-compensators for nonlinear mechanical systems described in the port-Hamiltonian framework. The proposed methodology considers a dynamic controller such that the relationship between the control input and the error signal of interest can be expressed in terms of a transfer function. Accordingly, the control gains can be tuned through a frequency analysis approach. Additionally, two practical advantages of the resulting controllers are that they do not require velocity measurements, and they can cope with input saturation. We illustrate the applicability of the proposed methodology through the stabilization of a planar manipulator, where the experimental results corroborate the effectiveness of the technique.",
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"abstract": "Task-invariant control methods for powered exoskeletons provide flexibility in assisting humans across multiple activities and environments. Energy shaping control serves this purpose by altering the human body’s dynamic characteristics in closed loop. Our previous work on potential energy shaping alters the gravitational vector to reduce the user’s perceived gravity, but this method cannot provide velocity-dependent assistance. The interconnection and damping assignment passivity-based control (IDA-PBC) method provides more freedom to shape a dynamical system’s energy through the interconnection structure of a port-controlled Hamiltonian system model. This letter derives a novel energetic control strategy based on IDA-PBC for a backdrivable knee-ankle exoskeleton. The control law provides torques that depend on various basis functions related to gravitational and gyroscopic terms. We optimize a set of constant weighting parameters for these basis functions to obtain a control law that produces able-bodied joint torques during walking on multiple ground slopes. We perform experiments with an able-bodied human subject wearing a knee-ankle exoskeleton to demonstrate reduced activation in certain lower-limb muscles.",
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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{
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{
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{
"identifiers": {
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"identifiers": {
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"title": "Energy Shaping Control of Hydraulic Soft Continuum Planar Manipulators",
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"given": "Enrico",
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"abstract": "This letter investigates the model-based control of a class of soft continuum manipulators with hydraulic actuation that bend on a plane due to pressurization of one or more internal chambers. A port-Hamiltonian formulation is employed to describe the system dynamics, which includes the pressure dynamics of the hydraulic fluid. A new nonlinear control law is constructed with an energy-shaping approach, and it is combined with an adaptive observer to compensate the effect of unknown external forces. Stability conditions are investigated with a Lyapunov approach, and the effect of the tuning parameters and of key model parameters is discussed. The effectiveness of the controller is demonstrated with numerical simulations.",
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"pages": "1748--1753",
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"doi": "10.1109/tmech.2021.3063121"
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"citation": "Franco, E., Garriga-Casanovas, A., Tang, J., Rodriguez y Baena, F. & Astolfi, A. Adaptive Energy Shaping Control of a Class of Nonlinear Soft Continuum Manipulators. IEEE/ASME Transactions on Mechatronics vol. 27 280–291 (2022)"
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"doi": "10.1016/j.mechmachtheory.2021.104250"
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"citation": "Franco, E., Garriga Casanovas, A. & Donaire, A. Energy shaping control with integral action for soft continuum manipulators. Mechanism and Machine Theory vol. 158 104250 (2021)"
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"doi": "10.1109/lcsys.2022.3182845"
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"title": "Trajectory Tracking for Discrete-Time Port-Hamiltonian Systems",
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{
"given": "Alessandro",
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"abstract": "This letter presents a regulator for nonlinear, discrete-time port-Hamiltonian systems that lets the state track a reference signal. Similarly to continuous-time approaches, the synthesis is based on the mapping via state-feedback of the open-loop error system to a target one in port-Hamiltonian form, and with an asymptotically stable origin that corresponds to the perfect tracking condition. The procedure is formally described by a matching equation that, in continuous-time, turns out to be a nonlinear partial differential equation (PDE). This is not the case for sampled-data systems, so an algebraic approach is proposed. The solution is employed to construct a dynamical regulator that performs an “approximated” mapping. The stability analysis relies on Lyapunov arguments.",
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"pages": "3146--3151",
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"abstract": "In this letter, we consider the exponential stabilization of a distributed parameter port-Hamiltonian system interconnected with an unstable finite-dimensional linear system at its free end and control input at the opposite one. The infinite-dimensional system can also have in-domain anti-damping. The control design passes through the definition of a finite-dimensional linear system that “embeds” the response of the distributed parameter model, and that can be stabilized by acting on the available control input. The conditions that link the exponential stability of the latter system with the exponential stability of the original one are obtained thanks to a Lyapunov analysis. Simulations are presented to show the pros and cons of the proposed synthesis methodology.",
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"title": "Infinite-Dimensional Observers for High-Order Boundary-Controlled Port-Hamiltonian Systems",
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"given": "Jesus-Pablo",
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"title": "Passivity-Preserving Safety-Critical Control Using Control Barrier Functions",
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"given": "Federico",
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"name": "Robotics and Mechatronics Group, University of Twente, NH Enschede, The Netherlands"
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"pages": "1742--1747",
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"name": "Department of Electrical, Computer and Biomedical Engineering, University of Pavia, Pavia, Italy"
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"abstract": "In this letter, our objective is to explore how two well-known projection dynamics can be used as dynamic controllers for stabilization of nonlinear systems. Combining the properties of projection operators, Lyapunov stability theory and LaSalle’s theorem, we confirm that the projection dynamics on the feasible set and tangent cone are Krasovskii passive. To show the effectiveness of the proposed approach, we use the projection dynamics on the tangent cone for stabilizing boost converters in a DC microgrid while satisfying predefined input constraints.",
"container_title": "IEEE Control Systems Letters",
"publication_year": "2023",
"volume": "7",
"issue": "",
"pages": "2179--2184",
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{
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{
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"doi": "10.1109/lcsys.2023.3286124"
},
"type": "journal-article",
"title": "Interconnection Schemes in Modeling and Control",
"authors": [
{
"given": "Pablo",
"family": "Borja",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0001-7744-0846",
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"sequence": "first",
"affiliation": [
{
"name": "School of Engineering, Computing and Mathematics, Plymouth University, Plymouth, U.K."
}
]
}
},
{
"given": "Joel",
"family": "Ferguson",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0001-6812-2846",
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"affiliation": [
{
"name": "School of Engineering, The University of Newcastle, Newcastle, NSW, Australia"
}
]
}
},
{
"given": "Arjan",
"family": "van der Schaft",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0002-2383-9234",
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"affiliation": [
{
"name": "Jan C. Willems Center for Systems and Control and the Bernoulli Institute for Mathematics, Computer Science, and Artificial Intelligence, University of Groningen, Groningen, The Netherlands"
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"abstract": "Interconnection schemes are ubiquitous in physical systems. For instance, in multi-domain systems consisting of interconnected subsystems from different physical domains. Furthermore, the interconnection of two or more systems has also been exploited to analyze and control dynamical systems, especially passive ones. To this end, the most common interconnection structure is the negative feedback interconnection. However, this approach is unsuitable to directly couple the states of the subsystems in the overall system’s energy as customarily occurs in physical systems. This letter provides two interconnection approaches that overcome this issue. Notably, it is shown that these interconnection structures are suitable for decomposing passive systems into the interconnection of simpler passive subsystems. Moreover, these interconnections schemes allow the interpretation of some existing nonlinear control approaches as the interconnection of a passive plant with a passive controller. Additionally, the interpretation of the proposed interconnection structures is provided via bond graphs.",
"container_title": "IEEE Control Systems Letters",
"publication_year": "2023",
"volume": "7",
"issue": "",
"pages": "2287--2292",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
"event": "",
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"created_date": "2023-06-14",
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"references": [
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tac.2020.2986731"
},
"citation": "Borja, P., Ortega, R. & Scherpen, J. M. A. New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control. IEEE Transactions on Automatic Control vol. 66 625–636 (2021)"
},
{
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{
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{
"identifiers": {
"doi": "10.1007/978-3-319-49992-5"
},
"citation": "van der Schaft, A. L2-Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer International Publishing, 2017). doi:10.1007/978-3-319-49992-5"
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{
"identifiers": {
"doi": "10.1109/mcs.2007.338279"
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"citation": "Bond-graph modeling. IEEE Control Systems vol. 27 24–45 (2007)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2016.7798983"
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},
{
"identifiers": {
"doi": "10.1109/tac.2020.3013941"
},
"citation": "van der Schaft, A. Cyclo-Dissipativity Revisited. IEEE Transactions on Automatic Control vol. 66 2920–2924 (2021)"
},
{
"identifiers": {
"doi": "10.3166/ejc.16.665-677"
},
"citation": "Venkatraman, A. & van der Schaft, A. Energy Shaping of Port-Hamiltonian Systems by Using Alternate Passive Input-Output Pairs. European Journal of Control vol. 16 665–677 (2010)"
},
{
"identifiers": {
"doi": "10.1109/tac.2008.2006930"
},
"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Transactions on Automatic Control vol. 53 2527–2542 (2008)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2011.6160395"
},
"citation": "van der Schaft, A. J. Positive feedback interconnection of Hamiltonian systems. IEEE Conference on Decision and Control and European Control Conference 6510–6515 (2011) doi:10.1109/cdc.2011.6160395"
},
{
"identifiers": {
"doi": "10.1109/cdc.2014.7039746"
},
"citation": "Ortega, R. & Borja, L. P. New results on Control by Interconnection and Energy-Balancing Passivity-Based Control of port-hamiltonian systems. 53rd IEEE Conference on Decision and Control 2346–2351 (2014) doi:10.1109/cdc.2014.7039746"
}
]
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"id": "392dc41c-ed33-59f1-85d9-7086c19df623",
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"doi": "10.1109/lcsys.2023.3289809"
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"type": "journal-article",
"title": "Distributed Adaptive Formation Control for Uncertain Point Mass Agents With Mixed Dimensional Space",
"authors": [
{
"given": "M. R.",
"family": "Rosa",
"literal": null,
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"affiliation": [
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"name": "Faculty of Science and Engineering, Engineering and Technology Institute Groningen, University of Groningen, Groningen, The Netherlands"
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},
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"given": "B.",
"family": "Jayawardhana",
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"name": "Faculty of Science and Engineering, Engineering and Technology Institute Groningen, University of Groningen, Groningen, The Netherlands"
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"abstract": "We propose distance-based distributed adaptive formation control of point mass agents in port-Hamiltonian (pH) framework that can deal with parameter uncertainties and with mixed dimensional space (2D, 3D or mixed 2D/3D). Adaptive control mechanism is subsequently proposed to maintain formation of uncertain pH systems with unknown damping parameters. Numerical simulations are presented for both known and uncertain point mass agents in mixed 2D/3D space.",
"container_title": "IEEE Control Systems Letters",
"publication_year": "2023",
"volume": "7",
"issue": "",
"pages": "2725--2730",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
"event": "",
"keywords": [],
"created_date": "2023-06-26",
"permalink": "distributed-adaptive-formation-control-for-uncertain-point-mass-agents-with-mixed-dimensional-space",
"references": [
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1080/00207179.2016.1207100"
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},
{
"identifiers": {
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"abstract": "We study the problem of periodic event-triggered control of interconnected port-Hamiltonian systems subject to time-varying delays in their communication. In particular, we design a threshold parameter for the event-triggering condition, a sampling period, and a maximum allowable delay such that interconnected port-Hamiltonian control systems with periodic event-triggering mechanism under a time-delayed communication are able to achieve asymptotically stable behaviour. Simulation results are presented to validate the theory.",
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"abstract": "This letter introduces a new framework of nonlinear, discrete-time, boundary control systems (BCSs) in the port-Hamiltonian form. The contribution is twofold. We start with a discrete-time approximation of a nonlinear port-Hamiltonian BCS, i.e., a dynamical system modelled by a nonlinear partial differential equation with boundary actuation and sensing. The most important feature is that the discretisation is performed in time only so that the “distributed nature” of the state is preserved. By approximating the gradient of the Hamiltonian density with its discrete gradient, the obtained sampled dynamics inherit the passivity of the original one. Besides, we prove that, under mild conditions, it is well-posed, i.e., the “next” state always exists. The second contribution deals with control design. More precisely, we have determined sufficient conditions for the plant dynamics and a static output feedback gain to make the closed-loop system asymptotically stable.",
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"title": "Feedback Nash Equilibrium Solutions of Two-Player LQ Differential Games: Synthesis and Analysis via a State/Costate Interpretation",
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"abstract": "Linear quadratic differential games and their feedback Nash equilibrium (F-NE) solutions are considered. First, it is shown that F-NE strategies can be derived from the restriction to an invariant subspace of a system that is reminiscent of the state/costate dynamics arising in the context of open-loop NE solutions. Second, in terms of synthesis, it is shown that the equilibrium subspace can be rendered externally stable via virtual inputs without modifying the underlying F-NE strategies. Building upon these findings, we propose a gradient descent algorithm to determine a solution of the coupled Algebraic Riccati Equations associated with F-NE, which are generally challenging to solve. Finally, in terms of analysis, we show that the F-NE strategy of each player can be interpreted as the output of a passive Port-Controlled Hamiltonian system, and that the behaviour of the original system under the action of the F-NE strategies can be interpreted as an interconnection of these.",
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"type": "journal-article",
"title": "Input-to-State Stable Hybrid Momentum Observer for Mechanical Systems",
"authors": [
{
"given": "Joel",
"family": "Ferguson",
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"abstract": "This letter examines the dynamic properties of a hybrid momentum observer for mechanical systems, extending the previously-reported results. The observer estimates the momentum vector from measurements of the configuration vector and is shown to be input-to-state stable with respect to external perturbations. In the absence of external perturbation the observer is shown to be globally exponentially stable, converging at a user-controlled rate. The observer is constructed from a port-Hamiltonian representation of mechanical systems and exhibits a passivity property with respect to an input-output port that can be utilised for subsequent control design. The theoretical results are demonstrated via numerical simulation on a 2-link vertical manipulator.",
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"abstract": "In this note, we propose a method for describing the dynamics of mechanical systems with velocity-based inputs within the port-Hamiltonian framework. Canonical representations of mechanical systems assume force/torque inputs. Many commonly used actuators, however, have internal dynamics that cause the output velocity to quickly converge to a specified reference velocity. In such cases, it is more meaningful from a modeling and control perspective to define models that admit a velocity input. This is achieved in this letter by performing a momentum transformation and state reduction, resulting in a reduced-order model where the relevant velocity is a causal input. The reduced-order model preserves the passivity of the original port-Hamiltonian system. The results are demonstrated by applying a velocity-input control signal to the classical cart-pole system.",
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"doi": "10.1109/tac.2014.2330701"
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"citation": "Romero, J. G., Ortega, R. & Sarras, I. A Globally Exponentially Stable Tracking Controller for Mechanical Systems Using Position Feedback. IEEE Transactions on Automatic Control vol. 60 818–823 (2015)"
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"doi": "10.1016/j.ifacol.2021.11.067"
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"citation": "Ferguson, J., Donaire, A. & Middleton, R. H. Passive momentum observer for mechanical systems. IFAC-PapersOnLine vol. 54 131–136 (2021)"
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"title": "Port-Hamiltonian-Based Geometric Control for Rigid Body Platoons With Mesh Stability Guarantee",
"authors": [
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"given": "Zihao",
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"abstract": "Rigid body platoons are widely applied in many scenarios, such as planar vehicular platoons, satellite networks, and aerial/underwater navigation formations. Like string stability, mesh stability is adopted in these higher dimensional platoons to capture the non-increasing tracking errors over the networks. In this letter, we extend the traditional vehicular platooning control to higher dimensional rigid body scenarios with mesh stability concerns. The main challenges stem from the inherent underactuation of rigid body dynamics, the nonlinearity introduced by the $SO\\textit {(}3\\textit {)}$-based rotations, and the maintenance of mesh stability for all formations. To this end, we first apply the notion of $l_{2}$ weak mesh stability to capture the effect of propagation of errors over the network. Then, by assuming all the followers have access to the leader’s information, we propose a novel and constructive rigid body platooning control method based on the port-Hamiltonian framework, which also guarantees the $l_{2}$ weak mesh stability. This designed controller is further refined for the case when each follower only knows the neighboring information. Finally, the effectiveness of the proposed methods is verified via numerical simulations.",
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"identifiers": {
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},
{
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{
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{
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"abstract": "This letter addresses the problem of flocking motion in the context of port-Hamiltonian systems. The port-Hamiltonian framework offers advantages in modeling networks, dissipation, and heterogeneous agents. In this regard, designing flocking controllers in port-Hamiltonian form significantly increases their practical applications. Additionally, event-triggered control has proven effective in reducing bandwidth consumption. However, challenges remain in combining flocking requirements with energy-dissipating terms. Therefore, we propose a novel event-triggered flocking controller suitable for port-Hamiltonian systems. The method is validated through numerical simulations of a group of hexarotors.",
"container_title": "IEEE Control Systems Letters",
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"volume": "9",
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"pages": "342--347",
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"references": [
{
"identifiers": {
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
"doi": "10.3390/math10244635"
},
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},
{
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{
"identifiers": {
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},
{
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},
{
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{
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},
{
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{
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},
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{
"identifiers": {
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{
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"doi": "10.1109/lra.2019.2932864"
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"abstract": "In this letter, we study the energy-optimal control of nonlinear port-Hamiltonian (pH) systems in discrete time. For continuous-time pH systems, energy-optimal control problems are strictly dissipative by design. This property, stating that the system to be optimized is dissipative with the cost functional as a supply rate, implies a stable long-term behavior of optimal solutions and enables stability results in predictive control. In this letter, we show that the crucial property of strict dissipativity is not straightforwardly preserved by any energy-preserving integrator such as the implicit midpoint rule. Then, we prove that discretizations via difference and differential representations lead to strictly dissipative discrete-time optimal control problems. Consequently, we rigorously show a stable long-term behavior of optimal solutions in the form of a manifold (subspace) turnpike property. Finally, we validate our findings using two numerical examples.",
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"abstract": "This letter deals with discrete-time linear boundary control systems (BCSs) in port-Hamiltonian form, for which the discretization is performed in time while preserving the distributed nature of the state and the passivity of the original system. The contribution is twofold. First, an explicit parametrized expression of the discrete-time state evolution is derived. Second, this parametrization is employed to design a simple model predictive control (MPC) law. The receding-horizon scheme relies on an optimization procedure based on a quadratically constrained quadratic programming (QCQP) problem. By following standard arguments and exploiting the passivity of the BCS, we prove that the MPC methodology guarantees asymptotic stability.",
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"title": "Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering",
"authors": [
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"given": "Ramy",
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"abstract": "In this work, we approach the control problem of fully-actuated UAVs in a geometric port-Hamiltonian framework. The UAV is modeled as a floating rigid body on the special Euclidean group SE(3). A unified near-hovering motion and impedance controller is derived by the energy-balancing passivity-based control technique. A detailed analysis of the closed-loop system's behavior is presented for both the free-flight stability and contact stability of the UAV. The robustness of the control system to uncertainties is validated by several experiments, in which the UAV is controlled near its actuator limits. The experiments show the ability of the UAV to hover at its maximum allowed roll angle and apply its maximum allowed normal force to a surface, without the input saturation destabilizing the system.",
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"abstract": "Pneumatic artificial muscles (PAMs) are soft actuators with softness and high power ratio. These characteristics provide a robot with adaptiveness and agility. However, controlling PAMs is difficult because they exhibit a highly nonlinear nature and involve complex multi-physical systems (i.e. mechanical and fluid systems). In particular, to achieve better control performance, the conventional approach suffers from estimating difficult-to-estimate parameters, such as the viscoelasticity of the PAM. To overcome the difficulty of controlling PAMs, this study utilized an interconnection and damping assignment passivity-based control (IDA-PBC) method via port-Hamiltonian (PH) framework. PH framework is well-suited for modeling PAMs because this framework describes the energy exchanges between the multi-physical systems of PMAs. In addition, the IDA-PBC method is a passivity based control that stabilizes the nonlinear systems. Loosely speaking, the feedback gain of the IDA-PBC method must be determined such that the PAM system is passive – that is, it either dissipates or conserves energy. Therefore, the PAM system can be stabilized without the precise viscoelastic parameters when the feedback gains are significantly higher than these parameters and ensure the system's passivity. Several experiments compared our proposed control with comparison control methods. As a result, our proposed control followed the desired position with a smaller error than the other comparison methods across a wide range of target positions.",
"container_title": "IEEE Robotics and Automation Letters",
"publication_year": "2025",
"volume": "10",
"issue": "6",
"pages": "6384--6391",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"keywords": [],
"created_date": "2025-05-05",
"permalink": "position-control-of-mckibben-type-pneumatic-artificial-muscle-via-port-hamiltonian-approach",
"references": [
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"id": "126fad97-127a-573b-9144-bddf8d1f19cb",
"identifiers": {
"doi": "10.1109/lra.2026.3681128"
},
"type": "journal-article",
"title": "Interactive Force-Impedance Control",
"authors": [
{
"given": "Fan",
"family": "Shao",
"literal": null,
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"affiliation": [
{
"name": "PRISMA Lab, Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy"
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"given": "Satoshi",
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"name": "Chair of Information-oriented Control (ITR), Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany"
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"name": "Chair of Information-oriented Control (ITR), Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany"
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"given": "Fanny",
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"abstract": "Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically achieved through external force analysis, nominal robot dynamics, or data-driven approaches. However, these methods are primarily effective in contact-sparse environments. When robots under hybrid or unified force–impedance control physically interact with active humans or non-passive environments, the robotic system may lose passivity and thus compromise safety. To address this challenge, this letter proposes a unified Interactive Force-Impedance Control (IFIC) framework that adapts to interaction power flow, ensuring safe and effortless interaction in contact-rich environments. The proposed control architecture is formulated within a port-Hamiltonian framework, incorporating both interaction and task control ports, thereby guaranteeing autonomous system passivity. Experiments in both rigid and soft contact scenarios demonstrate that IFIC ensures stable collaboration under active human interaction, reduces contact impact forces and interaction force oscillations.",
"container_title": "IEEE Robotics and Automation Letters",
"publication_year": "2026",
"volume": "11",
"issue": "5",
"pages": "6488--6495",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"keywords": [],
"created_date": "2026-04-06",
"permalink": "interactive-force-impedance-control",
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"abstract": "The bond-graph method is a graphical approach to modeling in which component energy ports are connected by bonds that specify the transfer of energy between system components. Power, the rate of energy transport between components, is the universal currency of physical systems. Bond graphs are inherently energy based and thus related to other energy-based methods, including dissipative systems and port-Hamiltonians. This article has presented an introduction to bond graphs for control engineers. Although the notation can initially appear daunting, the bond graph method is firmly grounded in the familiar concepts of energy and power. The essential element to be grasped is that bonds represent power transactions between components",
"container_title": "IEEE Control Systems",
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"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.",
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{
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{
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"citation": "Acosta, J. A., Ortega, R., Astolfi, A. & Mahindrakar, A. D. Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one. IEEE Trans. Automat. Contr. 50, 1936–1955 (2005)"
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"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
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"doi": "10.1109/tac.2002.800770"
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"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
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"doi": "10.1109/37.915398"
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"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
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"doi": "10.1109/tac.2007.899064"
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"citation": "Viola, G., Ortega, R., Banavar, R., Acosta, J. A. & Astolfi, A. Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes. IEEE Trans. Automat. Contr. 52, 1093–1099 (2007)"
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"doi": "10.1016/j.sysconle.2005.02.005"
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"title": "On the Experiments About the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate",
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"abstract": "A method to reconfigure in a nonprehensile way the pose (position and orientation) of a sphere rolling on a plate is proposed in this letter. The nonholonomic nature of the task is first solved at a planning level, where a geometric technique is employed to derive a Cartesian path to steer the sphere towards the arbitrarily desired pose. Then, an integral passivity-based control is designed to track the planned trajectory. The port-Hamiltonian formalism is employed to model the whole dynamics. Two approaches to move the plate are addressed in this paper, showing that only one of them allows the full controllability of the system. A humanoid-like robot is employed to bolster the proposed method experimentally.",
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"abstract": "Many open challenges are associated with the nonlinear behavior of large-scale power systems, especially when such systems include small distributed generators and fast power electronics based devices. To better understand the complex dynamics of power systems, several authors suggest that such systems may be analyzed using port-Hamiltonian representations. In this work we extend this approach, and propose a port-Hamiltonian description for transmission networks which are modeled based on dq0 quantities. We present several results that show how to analyze the system stability and the behavior of the Hamiltonian. The results are demonstrated in several test cases.",
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{
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{
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{
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"citation": "Belikov, J. & Levron, Y. A Sparse Minimal-Order Dynamic Model of Power Networks Based on dq0 Signals. IEEE Transactions on Power Systems vol. 33 1059–1067 (2018)"
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"citation": "fitzgerald, Electric Machinery (2003)"
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"doi": "10.1016/j.automatica.2018.11.013"
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"citation": "Beattie, C. A., Mehrmann, V. & Van Dooren, P. Robust port-Hamiltonian representations of passive systems. Automatica vol. 100 182–186 (2019)"
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"citation": "khalil, Nonlinear Systems (2002)"
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"citation": "Belikov, J. & Levron, Y. Integration of long transmission lines in large-scale dq0 dynamic models. Electrical Engineering vol. 100 1219–1228 (2017)"
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{
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"citation": "Macias, J. A. R., Exposito, A. G. & Soler, A. B. A Comparison of Techniques for State-Space Transient Analysis of Transmission Lines. IEEE Transactions on Power Delivery vol. 20 894–903 (2005)"
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"citation": "Baimel, D., Belikov, J., Guerrero, J. M. & Levron, Y. Dynamic Modeling of Networks, Microgrids, and Renewable Sources in the dq0 Reference Frame: A Survey. IEEE Access vol. 5 21323–21335 (2017)"
},
{
"identifiers": {},
"citation": "demiray, Simulation of Power System Dynamics Using Dynamic Phasor Models (2008)"
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{
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"doi": "10.1002/9781118524336"
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"citation": "Analysis of Electric Machinery and Drive Systems. (2013) doi:10.1002/9781118524336"
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"doi": "10.1016/j.epsr.2016.11.024"
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"citation": "Levron, Y. & Belikov, J. Modeling power networks using dynamic phasors in the dq0 reference frame. Electric Power Systems Research vol. 144 233–242 (2017)"
},
{
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"doi": "10.1007/978-1-4471-0507-7"
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"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
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{
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"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Systems vol. 21 18–33 (2001)"
},
{
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"doi": "10.1016/j.automatica.2016.07.036"
},
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},
{
"identifiers": {
"doi": "10.1109/tpwrs.2004.825981"
},
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{
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"doi": "10.1561/2600000002"
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"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. Foundations and Trends® in Systems and Control vol. 1 173–378 (2014)"
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"doi": "10.1109/med48518.2020.9182805"
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"type": "proceedings-article",
"title": "Estimation of passivity margins of hydrogen-based hybrid renewable energy systems via energy tanks",
"authors": [
{
"given": "Solene Houria",
"family": "Chaabna",
"literal": null,
"source_fields": {
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{
"given": "Jean-Yves",
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"given": "Sumit",
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"abstract": "This paper proposes new tools to design models and controllers for power systems. Within the port-Hamiltonian modeling framework, concepts that extend passivity margins and energy tanks are used to estimate power reserves in Hybrid Renewable Energy Systems. The methodology is applied to multi-source cells with renewable energy dedicated to the production of clean hydrogen. This work can be extended to more complex networked power systems, with the aim to increase the reliability of standalone networks by fitting the power demands while avoiding damage and extending lifetime of the equipment.",
"container_title": "2020 28th Mediterranean Conference on Control and Automation (MED)",
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"issue": "",
"pages": "758--763",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2020-09-01",
"permalink": "estimation-of-passivity-margins-of-hydrogen-based-hybrid-renewable-energy-systems-via-energy-tanks",
"references": [
{
"identifiers": {
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},
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},
{
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{
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{
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},
{
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},
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},
{
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},
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},
{
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{
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},
{
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{
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},
{
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]
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"id": "b487e191-15da-5ea0-81b5-d321629c5185",
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"doi": "10.1109/med48518.2020.9183317"
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"type": "proceedings-article",
"title": "Dissipation in suspension system augmented by piezoelectric stack: port-Hamiltonian approach",
"authors": [
{
"given": "Rafael",
"family": "Tavares",
"literal": null,
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"given": "Michael",
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"abstract": "Analysis of damping in semi-active and active suspension systems is prerequisite for an advanced control and, eventually, energy harvesting functions. This paper addresses the damping in suspension system augmented by the piezoelectric (PE) stack. The Hamiltonian system approach with port-power modeling of single subsystems is used for describing and studying the dissipative properties of piezoelectric stack element, integrated in series with a standard quarter-car suspension. The slightly improved, compared to the underlying passive suspension system, frequency response of the sprung mass acceleration is demonstrated. Moreover, the overall power flow in the system, caused by the disturbing road profile, and the dissipated power due to PE-augmented suspension are analyzed and discussed in detail. The results of dissipation analysis provide helpful tools for further developments towards PE-based energy harvesting.",
"container_title": "2020 28th Mediterranean Conference on Control and Automation (MED)",
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"volume": "",
"issue": "",
"pages": "168--173",
"publisher": "IEEE",
"event": "",
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"created_date": "2020-09-01",
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"references": [
{
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{
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"identifiers": {
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"type": "proceedings-article",
"title": "Stochastic Thermodynamics: Dissipativity, Losslessness, Accumulativity, Energy Storage, and Entropy Production",
"authors": [
{
"given": "Manuel",
"family": "Lanchares",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Georgia Institute of Technology,School of Aerospace Engineering,Atlanta,GA,USA,30332-0150"
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]
}
},
{
"given": "Wassim M.",
"family": "Haddad",
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"affiliation": [
{
"name": "Georgia Institute of Technology,School of Aerospace Engineering,Atlanta,GA,USA,30332-0150"
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],
"abstract": "In this paper, we develop an energy-based dynamical system model driven by a Markov input process to present a unified framework for stochastic thermo-dynamics predicated on a stochastic dynamical systems formalism. Specifically, using a stochastic dissipativity, losslessness, and accumulativity theory, we develop a nonlinear stochastic port-Hamiltonian system model characterized by energy conservation and entropy nonconservation laws that are consistent with statistical thermodynamic principles. In particular, we show that the difference between the stored system energy and the supplied system energy for our stochastic thermodynamic model is a martingale with respect to the system filtration, whereas the system entropy is a submartingale with respect to the system filtration.",
"container_title": "2023 31st Mediterranean Conference on Control and Automation (MED)",
"publication_year": "2023",
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"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2023-07-25",
"permalink": "stochastic-thermodynamics-dissipativity-losslessness-accumulativity-energy-storage-and-entropy-production",
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{
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{
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{
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},
{
"id": "a46291a9-12e2-5065-ac32-3eb7bc243f67",
"identifiers": {
"doi": "10.1109/melcon.2018.8379060"
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"type": "proceedings-article",
"title": "Voltage control for buck converter based MVDC microgrids with interconnection and damping assignment passivity based control",
"authors": [
{
"given": "Marco",
"family": "Cupelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Siddharth Kiranbhai",
"family": "Bhanderi",
"literal": null,
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},
{
"given": "Sriram Karthik",
"family": "Gurumurthy",
"literal": null,
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}
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{
"given": "Antonello",
"family": "Monti",
"literal": null,
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],
"abstract": "Power-electronics-based Medium Voltage Direct Current (MVDC) shipboard power systems, consisting of several interconnected feedback-controlled switching converters, suffer from potential degradation of stability induced by negative incremental resistances due to the presence of constant power loads (CPLs). To tackle such a problem, we propose a system-level stabilizing control methods acting on the source side converters. It relies on the Port Controlled Hamiltonian (PCH) representation of a Buck Converters. Based on this approach an Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) law is designed. Simulation results for a MVDC Microgrid using converter switching models confirm the correctness and effectiveness of the designed controller while evaluating him against the well research Linearizing State Feedback (LSF).",
"container_title": "2018 19th IEEE Mediterranean Electrotechnical Conference (MELECON)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "14--19",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-11",
"permalink": "voltage-control-for-buck-converter-based-mvdc-microgrids-with-interconnection-and-damping-assignment-passivity-based-control",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1109/melcon.2016.7495331"
},
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},
{
"identifiers": {
"doi": "10.1109/esars.2015.7101470"
},
"citation": "Cupelli, M., de Paz Carro, M. & Monti, A. Hardware in the loop implementation of linearizing state feedback on MVDC ship systems and the significance of longitudinal parameters. 2015 International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles (ESARS) 1–6 (2015) doi:10.1109/esars.2015.7101470"
},
{
"identifiers": {},
"citation": "cupelli, Hardware in the Loop implementation of a disturbance based control in MVDC grids. 2015 IEEE Power & Energy Society General Meeting (0)"
},
{
"identifiers": {
"doi": "10.1109/mele.2015.2413434"
},
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},
{
"identifiers": {
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},
"citation": "Cupelli, M., Zhu, L. & Monti, A. Why Ideal Constant Power Loads Are Not the Worst Case Condition From a Control Standpoint. IEEE Trans. Smart Grid 6, 2596–2606 (2015)"
},
{
"identifiers": {
"doi": "10.1109/ptc.2015.7232564"
},
"citation": "Cupelli, M., Mirz, M. & Monti, A. A comparison of backstepping and LQG control for stabilizing MVDC microgrids with Constant Power Loads. 2015 IEEE Eindhoven PowerTech (2015) doi:10.1109/ptc.2015.7232564"
}
]
},
{
"id": "40f11548-adc5-5987-9f3d-7497886491ff",
"identifiers": {
"doi": "10.1109/oceans.2016.7761253"
},
"type": "proceedings-article",
"title": "A passivity-based framework for coordinated distributed control of AUV teams: Guaranteeing stability in presence of range communication constraints",
"authors": [
{
"given": "Filippo",
"family": "Fabiani",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Davide",
"family": "Fenucci",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Tommaso",
"family": "Fabbri",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Andrea",
"family": "Caiti",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "This paper presents a cooperative, distance-based, distributed control law for multiple Autonomous Underwater Vehicles (AUVs) executing a mission while meeting mutual communications constraints. The classic graph theory provides the essential tools to model the whole network of interacting robots, which is then handled within the energy-based, port-Hamiltonian framework. The virtual interaction forces generated over each link are represented by visco-elastic couplings. The passivity theory allows the construction of a Lyapunov function for the closed loop system to demonstrate the stability in large of the whole network with the synthesized control law. Moreover, always using passivity-based techniques, the behaviour of the group is made as flexible as possible with arbitrary split and join events. Several software simulations, involving a team or sub-teams of agents that perform typical missions in marine environment, show the effectiveness of the proposed approach.",
"container_title": "OCEANS 2016 MTS/IEEE Monterey",
"publication_year": "2016",
"volume": "",
"issue": "",
"pages": "1--5",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2016-12-19",
"permalink": "a-passivity-based-framework-for-coordinated-distributed-control-of-auv-teams-guaranteeing-stability-in-presence-of-range-communication-constraints",
"references": [
{
"identifiers": {
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},
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{
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},
{
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{
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},
{
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},
{
"identifiers": {
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},
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},
{
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"abstract": "Task-specific, trajectory-based control methods commonly used in exoskeletons may be appropriate for individuals with paraplegia, but they overly constrain the volitional motion of individuals with remnant voluntary ability (representing a far larger population). Human-exoskeleton systems can be represented in the form of the Euler-Lagrange equations or, equivalently, the port-controlled Hamiltonian equations to design control laws that provide task-invariant assistance across a continuum of activities/environments by altering energetic properties of the human body. We previously introduced a port-controlled Hamiltonian framework that parameterizes the control law through basis functions related to gravitational and gyroscopic terms, which are optimized to fit normalized able-bodied joint torques across multiple walking gaits on different ground inclines. However, this approach did not have the flexibility to reproduce joint torques for a broader set of activities, including stair climbing and stand-to-sit, due to strict assumptions related to input-output passivity, which ensures the human remains in control of energy growth in the closed-loop dynamics. To provide biomimetic assistance across all primary activities of daily life, this paper generalizes this energy shaping framework by incorporating vertical ground reaction forces and global planar orientation into the basis set, while preserving passivity between the human joint torques and human joint velocities. We present an experimental implementation on a powered knee-ankle exoskeleton used by three able-bodied human subjects during walking on various inclines, ramp ascent/descent, and stand-to-sit, demonstrating the versatility of this control approach and its effect on muscular effort.",
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"abstract": "A new energy-based approach to mathematical modeling of multi-physical systems – Energetic Macroscopic Representation (EMR) has already shown its effectiveness in the study of a number objects of electric vehicle, renewable energy, energy storage systems etc. An important advantage of this approach over others is the clear procedure for creating control systems based on the principle of Inversion-Based Control (IBC). However, IBC encounters difficulties in more complex cases when the control object has multi-input subsystems with non-linear coupled dynamics. In this paper, for such cases, it is proposed to apply the description of a complex subsystem as Port Controlled Hamiltonian (PCH) and to synthesize the control system by the method of Interconnection and Damping Assignment, which will provide asymptotic stability of the nonlinear subsystem. The effectiveness of the proposed approach is demonstrated by the example of vector-controlled PMSM for both cases of mounting in the rotor of permanent magnets – surface and interior. The conducted simulation studies showed the effectiveness of the proposed approach and better control quality compared to the Field Oriented Control (FOC) of the components of the armature current vector.",
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"abstract": "For the purpose of improving the performance of traditional unidirectional hybrid three phase voltage source rectifier (UHTPVSR), the neutral point clamped (NPC) hybrid rectifier is proposed in this paper. The energy of the NPC hybrid rectifier can flow in both directions, the total harmonic distortion (THD) is lower, and the converter capacity is larger. The port controlled hamiltonian with dissipation (PCHD) mathematical models of the Boost converter and the NPC rectifier are built respectively, and the passivity-based hybrid control (PBHC) controller is designed, which includes the outer voltage loop based on proportional-integral (PI) control and the inner current loop based on passivity based control. The designed control strategy is with better current tracking performance, output voltage stablity, and good robustness. The simulation model is established by MATLAB/Simulink, and the simulation results show good static and dynamic performances of the proposed control strategy.",
"container_title": "2018 IEEE International Power Electronics and Application Conference and Exposition (PEAC)",
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"id": "d5bbe918-9c89-5348-a74c-2b44a6610cff",
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"doi": "10.1109/peci.2019.8698923"
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"type": "proceedings-article",
"title": "On a dynamic model for Voltage Source Inverter should not be used",
"authors": [
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"given": "Elham",
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"abstract": "In this paper we develop a dynamic voltage source model that mimics synchronous generators. The presented formulation as an electrostatic generator has a dynamic that corresponds to the steady state current controlled voltage source model of synchronous generators. Then we apply the linearized equations of the designed electrostatic generator in port-Hamiltonian framework and construct a novel control law for voltage source inverter. This model provides the reference voltage for Pulse Width Modulation (PWM) that triggers the power electronic circuit of inverter",
"container_title": "2019 IEEE Power and Energy Conference at Illinois (PECI)",
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"doi": "10.1109/pedg.2014.6878698"
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"type": "proceedings-article",
"title": "Port-Controlled Hamiltonian (PCH)-based control approach for wind energy conversion systems",
"authors": [
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"given": "Majid",
"family": "Pahlevani",
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"given": null,
"family": "Shangzhi Pan",
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"given": "Jonathan",
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"abstract": "This paper presents a novel control approach to improve the dynamic response of wind energy control systems (WECS) that use a permanent magnet synchronous generator (PMSG) operating under a wide input and load range. In this paper, it's shown that WECS is classified as a Port-Controlled Hamiltonian (PCH) system. Therefore, a nonlinear controller based on PCH is proposed, which is able to robustly control the WECS under parameter uncertainties and disturbances. The performance of the PCH-based controller is evaluated through simulation. Also, the proposed controller is implemented on an experimental prototype. Simulation and experimental results show a robust and fast transient performance compared to the conventional dq-controller.",
"container_title": "2014 IEEE 5th International Symposium on Power Electronics for Distributed Generation Systems (PEDG)",
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"pages": "1--5",
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"references": [
{
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{
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"id": "b4256a29-6e3e-5e28-b115-774fe18c46f5",
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"doi": "10.1109/pedg48541.2020.9244412"
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"type": "proceedings-article",
"title": "Passivity-Based Current Control of a Dual-Active Bridge to Improve the Dynamic Response of a Solid-State Transformer During Power and Voltage Variations",
"authors": [
{
"given": "K.",
"family": "Lopez-Rodriguez",
"literal": null,
"source_fields": {
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{
"given": "A.",
"family": "Escobar-Mejia",
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"given": "E.Y.",
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"abstract": "The interest for smart-grids has grown worldwide and several utilities have begun to base their plans for expansion and modernization considering this concept. New trends to get more efficient, compact, and reliable power semiconductor devices, have motivated the development of new components such as the Solid-State Transformer (SST), which has become the key technology to be used in smart-grid applications. These advantages can be exploited by regulating the power flow in the dual-active bridge (DAB) of the SST. In this context, this paper focuses on proposing a passivity-based current controller for the DAB of an SST that regulates the power flow considering the passive behavior of DAB model and its port-Hamiltonian structure, which guarantees stability in closed-loop operation. To validate the proposed approach's effectiveness, the closed-loop system is tested under different power variations, including bi-directional power flow, and its performance is compared with a conventional PI controller. In addition, input voltage variations are also considered. Results validated the controller's capability of maintaining constant power flow in the event of input disturbances.",
"container_title": "2020 IEEE 11th International Symposium on Power Electronics for Distributed Generation Systems (PEDG)",
"publication_year": "2020",
"volume": "",
"issue": "",
"pages": "230--235",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2020-11-09",
"permalink": "passivity-based-current-control-of-a-dual-active-bridge-to-improve-the-dynamic-response-of-a-solid-state-transformer-during-power-and-voltage-variations",
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"citation": "Tong, A., Hang, L., Li, G., Jiang, X. & Gao, S. Modeling and Analysis of a Dual-Active-Bridge-Isolated Bidirectional DC/DC Converter to Minimize RMS Current With Whole Operating Range. IEEE Transactions on Power Electronics vol. 33 5302–5316 (2018)"
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"doi": "10.1109/tpwrs.2019.2948360"
},
"citation": "Gil-Gonzalez, W. J., Garces, A., Fosso, O. B. & Escobar-Mejia, A. Passivity-Based Control of Power Systems Considering Hydro-Turbine With Surge Tank. IEEE Transactions on Power Systems vol. 35 2002–2011 (2020)"
},
{
"identifiers": {
"doi": "10.1109/tac.2017.2732283"
},
"citation": "Zhang, M., Borja, P., Ortega, R., Liu, Z. & Su, H. PID Passivity-Based Control of Port-Hamiltonian Systems. IEEE Transactions on Automatic Control vol. 63 1032–1044 (2018)"
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"doi": "10.1109/pedg54999.2022.9923115"
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"type": "proceedings-article",
"title": "Enhancing Synchronization Stability of a VSC-Grid System using IDA-PBC Controller",
"authors": [
{
"given": "Sai Sowmya",
"family": "Nagam",
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"name": "Imperial College,Department of Electrical and Electronics Engineering,London,SW7 2AZ"
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"given": "Bikash C.",
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"name": "Imperial College,Department of Electrical and Electronics Engineering,London,SW7 2AZ"
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"abstract": "A low-inertial power system allows rapid fluctuations in frequency and phase under disturbances. These fluctuations can destabilize the entire system if not accounted for while estimating the control action. Therefore, fast and accurate synchronization is necessary to ensure inertial stability. However, there is a limit on the response time of synchronization controllers like a phase-locked loop (PLL) to ensure harmonic suppression and stability against a weak grid. In this context, a passivity-based controller is proposed as an alternative, which can enable fast current control and PLL response while maintaining stability and power quality. The results are compared with a proportional-integral (PI) controller while accounting for control and modulation delay.",
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"doi": "10.1109/tpel.2019.2892142"
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"citation": "Taul, M. G., Wang, X., Davari, P. & Blaabjerg, F. An Overview of Assessment Methods for Synchronization Stability of Grid-Connected Converters Under Severe Symmetrical Grid Faults. IEEE Transactions on Power Electronics vol. 34 9655–9670 (2019)"
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{
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"doi": "10.3390/en12071259"
},
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},
{
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{
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},
"citation": "Gong, H., Wang, X. & Harnefors, L. Rethinking Current Controller Design for PLL-Synchronized VSCs in Weak Grids. IEEE Transactions on Power Electronics 1–1 (2021) doi:10.1109/tpel.2021.3105549"
},
{
"identifiers": {
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},
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},
{
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},
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},
{
"identifiers": {
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{
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},
{
"identifiers": {
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{
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{
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"doi": "10.1109/pedstc69361.2026.11656751"
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"type": "proceedings-article",
"title": "A Comprehensive Port-Hamiltonian Framework for Passivity-Oriented Stabilization of Battery Energy Storage Systems",
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"given": "Pezhman",
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"name": "Hamedan University of Technology",
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"abstract": "The deployment of battery energy storage systems (BESS) plays a crucial role in enhancing the reliability and operational efficiency of renewable energy infrastructures. This study presents a resilient control strategy for BESS, implemented through a bidirectional buck–boost DC–DC converter and formulated within the extended port-Hamiltonian (EpH) framework using passivity-based control (PBC). A nonlinear averaged model is developed and expressed in EpH form, which highlights the system’s inherent passive characteristics. Stability analysis is conducted via Lyapunov theory, resulting in a dynamic controller that ensures global exponential stability. The proposed controller applies a unified control law for both charging and discharging processes, relying on a single proportional damping gain. Target state trajectories are designed to function as dynamic compensators, while robustness against parameter variations is systematically examined. MATLAB simulations validate the controller’s capability to accurately track time-varying current references and maintain precise load compensation. In comparison with conventional proportional–integral and sliding-mode controllers, the PBC-based approach demonstrates improved transient behavior, reduced tracking error, and simplified tuning requirements. Beyond offering a high-performance solution, this work also provides a practical framework for applying pH modeling and PBC theory to modern power electronic systems in renewable energy applications.",
"container_title": "2026 17th Power Electronics, Drive Systems, and Technologies Conference (PEDSTC)",
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{
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{
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{
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{
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"id": "7bb3ac71-9b81-5920-bf2e-8ae90a56f2f9",
"identifiers": {
"doi": "10.1109/peits.2008.59"
},
"type": "proceedings-article",
"title": "Control Strategy of Three-Phase AC/DC Voltage-Source Converters Based on Storage Function",
"authors": [
{
"given": "Jiuhe",
"family": "Wang",
"literal": null,
"source_fields": {
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}
},
{
"given": "Peirong",
"family": "Xia",
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{
"given": "Jinlong",
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"abstract": "In order to improve the properties of AC/DC converters, scholars in different countries have began to apply nonlinear control theory based on storage function to AC/DC converters. For this purpose, this paper introduces the study status of three-phase AC/DC voltage-source converters based on storage function, which includes Lyapunov control theory, passivity control theory using Euler-Lagrange (EL) model and port controlled Hamiltonian with dissipation (PCHD) model, and proposes a new design method of passivity controller based on EL model of AC/DC converter. Meanwhile this paper analyzes the nonlinear control strategies above.",
"container_title": "2008 Workshop on Power Electronics and Intelligent Transportation System",
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"volume": "",
"issue": "",
"pages": "117--121",
"publisher": "IEEE",
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{
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{
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{
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{
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},
{
"id": "9473e9ce-6bf1-5571-8875-4ea66cb09d3b",
"identifiers": {
"doi": "10.1109/pes.2010.5589516"
},
"type": "proceedings-article",
"title": "Energy-based hybrid excitation control for synchronous generators",
"authors": [
{
"given": null,
"family": "Wei Qiao",
"literal": null,
"source_fields": {
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{
"given": null,
"family": "Qing Hui",
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"abstract": "This paper presents an energy-based hybrid control, which replaces the traditional automatic voltage regulator (AVR) for excitation control of a synchronous generator connected to an infinite power system. The proposed controller is based on energy representation of the power system by using a port-controlled Hamiltonian form. The controller uses a hierarchical hybrid architecture characterized by continuous-time dynamics at the lower level of the hierarchy and logical decision-making units at the higher level of the hierarchy. The lower-level units, i.e., the subcontrollers, are each designed for a power system operating mode and directly interact with the power system to be controlled; while the higher-level decision-making units perform logical checks that identify system mode of operation and activates the corresponding lower-level unit; the activated lower-level unit then executes continuous control actions for the power system. Consequently, the controller can adapt to different power system operating modes. Simulation studies are carried out to show the effectiveness of the proposed controller for excitation control of the synchronous generator.",
"container_title": "IEEE PES General Meeting",
"publication_year": "2010",
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"issue": "",
"pages": "1--6",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2010-10-01",
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{
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1109/60.937206"
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},
{
"identifiers": {
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}
]
},
{
"id": "de91e55f-4378-53bc-ba1c-e2c6208253d2",
"identifiers": {
"doi": "10.1109/pesgm40551.2019.8974114"
},
"type": "proceedings-article",
"title": "Global Stable Control Scheme of Hexverter for Fractional Frequency Transmission System",
"authors": [
{
"given": "Yongqing",
"family": "Meng",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Yichao",
"family": "Zou",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Xifan",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Huixuan",
"family": "Li",
"literal": null,
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}
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"abstract": "This paper propose a novel control scheme of Hexverter in Fractional frequency transmission system (FFTS) application, which is based on the interconnection and damping assignment passivity-based control (IDA-PBC) methodology. This scheme characterize the global stability and strong robustness. Firstly, the frequency decoupled model of Hexverter is studied and then port-controlled Hamiltonian (PCH) model is built. On this basis, the IDA-PB control scheme of the Hexverter is designed. Considering the interference of system parameters and unmolded dynamics, integrators are added to the IDA-PB controller to eliminate the steady-state error. Finally, The simulation results are presented to verify that the proposed control scheme have good operation performance and strong robustness.",
"container_title": "2019 IEEE Power & Energy Society General Meeting (PESGM)",
"publication_year": "2019",
"volume": "",
"issue": "",
"pages": "1--5",
"publisher": "IEEE",
"event": "",
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"created_date": "2020-01-31",
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"references": [
{
"identifiers": {
"doi": "10.1109/ecce.2014.6954142"
},
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1109/ecce.2014.6954142"
},
"citation": "Baruschka, L., Karwatzki, D., von Hofen, M. & Mertens, A. Low-speed drive operation of the modular multilevel converter Hexverter down to zero frequency. 2014 IEEE Energy Conversion Congress and Exposition (ECCE) 5407–5414 (2014) doi:10.1109/ecce.2014.6954142"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/ipec.2014.6870026"
},
"citation": "Hamasaki, S., Okamura, K., Tsubakidani, T. & Tsuji, M. Control of hexagonal Modular Multilevel Converter for 3-phase BTB system. 2014 International Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE ASIA) 3674–3679 (2014) doi:10.1109/ipec.2014.6870026"
},
{
"identifiers": {
"doi": "10.1109/ecce.2014.6953611"
},
"citation": "Karwatzki, D., Baruschka, L., von Hofen, M. & Mertens, A. Branch energy control for the modular multilevel direct converter Hexverter. 2014 IEEE Energy Conversion Congress and Exposition (ECCE) 1613–1622 (2014) doi:10.1109/ecce.2014.6953611"
},
{
"identifiers": {},
"citation": "xifan, Integration Techniques and Transmission Schemes for Off-shore Wind Farms. Proceedings of the CSEE (0)"
},
{
"identifiers": {
"doi": "10.1007/s40565-017-0311-2"
},
"citation": "Meng, Y. et al. Control scheme of hexagonal modular multilevel direct converter for offshore wind power integration via fractional frequency transmission system. J. Mod. Power Syst. Clean Energy 6, 168–180 (2017)"
},
{
"identifiers": {
"doi": "10.1109/pesgm.2012.6345481"
},
"citation": "Mau, C. N., Rudion, K. & Orths, A. Grid connection of offshore wind farm based DFIG with low frequency AC transmission system. 2012 IEEE Power and Energy Society General Meeting 1–7 (2012) doi:10.1109/pesgm.2012.6345481"
}
]
},
{
"id": "ba8f2b4d-8579-5bd2-9d93-3d72ffdc9089",
"identifiers": {
"doi": "10.1109/pesgm52003.2023.10252343"
},
"type": "proceedings-article",
"title": "Passivity-Based Control of Grid Forming and Grid Following Converters in Microgrids",
"authors": [
{
"given": "Yonghao",
"family": "Gui",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Oak Ridge National Laboratory,Electrification and Energy Infrastructures Division,Knoxville,United States"
}
]
}
},
{
"given": "Yaosuo",
"family": "Xue",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Oak Ridge National Laboratory,Electrification and Energy Infrastructures Division,Knoxville,United States"
}
]
}
}
],
"abstract": "With the integration of more and more power electronics devices into the grid, it is not easy to guarantee the stability of the whole system due to the complexity of the control structure of various power converters. In this paper, we consider grid-forming and grid-following converters in one microgrid, in which the grid-forming converters support the voltage and frequency of the microgrid and the grid-following converters inject their maximum power into the microgrid. To handle the stability issue, the passivity principle is applied to guarantee the stability of the whole microgrid. We ensure every grid-following converter satisfies the passivity via the port-controlled Hamiltonian method. In addition, we apply the passivity-based proportional-resonant controller to the grid-forming converter. One of the advantages of the proposed method is that the phase lock loop system is eliminated, which may cause stability issues. Simulation results show that the proposed method can control the microgrid effectively.",
"container_title": "2023 IEEE Power & Energy Society General Meeting (PESGM)",
"publication_year": "2023",
"volume": "",
"issue": "",
"pages": "1--5",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2023-09-25",
"permalink": "passivity-based-control-of-grid-forming-and-grid-following-converters-in-microgrids",
"references": [
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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},
{
"id": "5d0672e7-6a97-5d4f-b5bf-87d2641772d2",
"identifiers": {
"doi": "10.1109/pesgm52009.2025.11225651"
},
"type": "proceedings-article",
"title": "Stability Region Boundary of Multi-Paralleled Grid-Following Converter Systems Considering PLL Coupling Interactions",
"authors": [
{
"given": "Naiyuan",
"family": "Liu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Northeast Electric Power University,School of Electrical Engineering,China"
}
]
}
},
{
"given": "Zhenglong",
"family": "Sun",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Northeast Electric Power University,School of Electrical Engineering,China"
}
]
}
},
{
"given": "Zhifeng",
"family": "He",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Northeast Electric Power University,School of Electrical Engineering,China"
}
]
}
}
],
"abstract": "In multiple parallel grid-following converters (GFL-VSCs), the nonlinear characteristics of the phase-locked loop (PLL) and other PLLs coupling interactions significantly affect the transient synchronization stability (TSS) of the GFL-VSCs. To fill this gap, this paper investigates the impact of coupling interactions based on the stability region boundary (SRB) theory. The study reveals that the coupling interactions limit the maximum phase angle of the PLL. Based on this, the stable manifold of GFL-VSCs is plotted using the differential-algebraic equation (DAE) SRB theory. It is shown that SRB of GFL-VSCs is composed of stable manifolds of unstable equilibrium point (UEP) or stable manifolds of semi-singular point (SSP) and partial singular surfaces. The composition of the SRB is closely tied to the influence of coupling interactions between PLLs. Furthermore, we propose a quantitative index based on the port-Hamiltonian (PH) energy function to assess the impact of coupling interactions on TSS. This method is implemented by comparing the critical energy values at the saddle points. This approach does not require internal measurements or model parameters, making it convenient for online applications. Finally, experiments and simulations were conducted to compare with existing methods, validating the effectiveness of the proposed approach.",
"container_title": "2025 IEEE Power & Energy Society General Meeting (PESGM)",
"publication_year": "2025",
"volume": "",
"issue": "",
"pages": "1--5",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2025-11-10",
"permalink": "stability-region-boundary-of-multi-paralleled-grid-following-converter-systems-considering-pll-coupling-interactions",
"references": [
{
"identifiers": {
"doi": "10.1109/tpwrs.2023.3239663"
},
"citation": "Chen Y, Preece R, Barnes M (2024) A Framework for Analyzing System Loadability With Multiple VSCs Using a Hybrid Model. IEEE Trans Power Syst 39(1):1079–1094. https://doi.org/10.1109/tpwrs.2023.323966"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2020.3033468"
},
"citation": "He X, Geng H (2021) Transient Stability of Power Systems Integrated With Inverter-Based Generation. IEEE Trans Power Syst 36(1):553–556. https://doi.org/10.1109/tpwrs.2020.303346"
},
{
"identifiers": {
"doi": "10.1016/j.ijepes.2023.109134"
},
"citation": "Huang S, Yao J, Luo Y, Lin Y, Gong S (2023) Coupling characteristic analysis and synchronization stability control for Multi-Paralleled VSCs system under symmetric faults. International Journal of Electrical Power & Energy Systems 151:109134. https://doi.org/10.1016/j.ijepes.2023.10913"
},
{
"identifiers": {
"doi": "10.1109/tia.2021.3121262"
},
"citation": "He X, Geng H (2022) PLL Synchronization Stability of Grid-Connected Multiconverter Systems. IEEE Trans on Ind Applicat 58(1):830–842. https://doi.org/10.1109/tia.2021.312126"
},
{
"identifiers": {
"doi": "10.1109/tste.2022.3176919"
},
"citation": "Yi X, Peng Y, Zhou Q, Huang W, Xu L, Shen ZJ, Shuai Z (2022) Transient Synchronization Stability Analysis and Enhancement of Paralleled Converters Considering Different Current Injection Strategies. IEEE Trans Sustain Energy 13(4):1957–1968. https://doi.org/10.1109/tste.2022.317691"
},
{
"identifiers": {
"doi": "10.1109/tpel.2023.3246763"
},
"citation": "Li X, Tian Z, Zha X, Sun P, Hu Y, Huang M, Sun J (2023) Nonlinear Modeling and Stability Analysis of Grid-Tied Paralleled-Converters Systems Based on the Proposed Dual-Iterative Equal Area Criterion. IEEE Trans Power Electron 38(6):7746–7759. https://doi.org/10.1109/tpel.2023.324676"
},
{
"identifiers": {
"doi": "10.1109/tsg.2023.3262756"
},
"citation": "Fu X, Huang M, Tse CK, Yang J, Ling Y, Zha X (2023) Synchronization Stability of Grid-Following VSC Considering Interactions of Inner Current Loop and Parallel-Connected Converters. IEEE Trans Smart Grid 14(6):4230–4241. https://doi.org/10.1109/tsg.2023.326275"
},
{
"identifiers": {
"doi": "10.1016/j.ijepes.2022.108135"
},
"citation": "Wang T, Ji T, Jiao D, Li Y, Wang Z (2022) Transient synchronization stability analysis of PLL-based VSC using Lyapunov’s direct method. International Journal of Electrical Power & Energy Systems 141:108135. https://doi.org/10.1016/j.ijepes.2022.10813"
},
{
"identifiers": {},
"citation": "Huang, Synchronization Stability Analysis of Multi-VSC Grid-connected System via Multi-scale Method. CSEE J Power Energy Syst (2023)"
},
{
"identifiers": {
"doi": "10.1109/jetcas.2020.3044361"
},
"citation": "Yang Z, Yu J, Kurths J, Zhan M (2021) Nonlinear Modeling of Multi-Converter Systems Within DC-Link Timescale. IEEE J Emerg Sel Topics Circuits Syst 11(1):5–16. https://doi.org/10.1109/jetcas.2020.304436"
},
{
"identifiers": {
"doi": "10.35833/mpce.2023.000051"
},
"citation": "Chen L, Min Y, Hao L, Xing G, Li Y, Xu S (2024) Large-disturbance Stability Analysis of Power Systems with Synchronous Generator and Converter-interfaced Generation. Journal of Modern Power Systems and Clean Energy 12(3):997–1002. https://doi.org/10.35833/mpce.2023.00005"
},
{
"identifiers": {
"doi": "10.1109/jestpe.2021.3076189"
},
"citation": "Tian Z, Tang Y, Zha X, Sun J, Huang M, Fu X, Liu F (2022) Hamilton-Based Stability Criterion and Attraction Region Estimation for Grid-Tied Inverters Under Large-Signal Disturbances. IEEE J Emerg Sel Topics Power Electron 10(1):413–423. https://doi.org/10.1109/jestpe.2021.307618"
},
{
"identifiers": {
"doi": "10.1109/jestpe.2023.3271418"
},
"citation": "Tian Z, Li X, Zha X, Tang Y, Sun P, Huang M, Yu P (2023) Transient Synchronization Stability of an Islanded AC Microgrid Considering Interactions Between Grid-Forming and Grid-Following Converters. IEEE J Emerg Sel Topics Power Electron 11(4):4463–4476. https://doi.org/10.1109/jestpe.2023.327141"
},
{
"identifiers": {
"doi": "10.35833/mpce.2023.000101"
},
"citation": "Zetian燴heng, Shaowei燞uang, Jun燳an, Qiangsheng燘u, Chen燬hen, Mingzhong燴heng, Ye燣iu (2024) Locating燬ources爋f燨scillations營nduced燽y燙ontrol爋f燰oltage燬ource燙onverters燘ased爋n燛nergy燬tructure燼nd燦onlinearity燚etection. Journal of Modern Power Systems and Clean Energy 12(4):1285–1294. https://doi.org/10.35833/mpce.2023.00010"
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{
"identifiers": {
"doi": "10.1109/5.481633"
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"citation": "Venkatasubramanian V, Schattler H, Zaborsky J (1995) Dynamics of large constrained nonlinear systems-a taxonomy theory [power system stability]. Proc IEEE 83(11):1530–1561. https://doi.org/10.1109/5.48163"
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"doi": "10.1109/powercon.2010.5666122"
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"type": "proceedings-article",
"title": "Port Controlled Hamiltonian modeling and periodic adaptive L2 disturbance attenuation control algorithm for Active Power Filter",
"authors": [
{
"given": null,
"family": "Zhang Zhenhuan",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
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{
"given": null,
"family": "Liu Huijin",
"literal": null,
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"affiliation": []
}
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{
"given": null,
"family": "Lei Xi",
"literal": null,
"source_fields": {
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}
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{
"given": null,
"family": "Xu Guizhi",
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"abstract": "The paper proposes a novel periodic adaptive L2 disturbance attenuation control algorithm for APF based on the averaged Port Controlled Hamiltonian (PCH) model. Based on the energy-dissipative property of APF state equations, the averaged PCH model in the d–q rotating frame with periodic disturbances, aperiodic disturbances and parametric perturbations is first established. The averaged PCH model of error system is further derived in terms of energy balance. Then, the influence of parametric perturbations can be converted into part of periodic disturbances and periodic adaptive L2 disturbance attenuation control algorithm is designed to suppress tracking errors resulted from parametric perturbations and disturbances: The periodic adaptive control compensates periodic disturbances, while the L2 disturbance attenuation can be used to stabilize the error system, ensure the convergence of periodic adaptive control and suppress other aperiodic disturbances. In addition, according to the demand in practical implementation, the proposed control algorithm is modified by ignoring the ripple component on dc-side capacitor reference voltage. Experimental results verify the validity of the proposed algorithm.",
"container_title": "2010 International Conference on Power System Technology",
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"volume": "",
"issue": "",
"pages": "1--8",
"publisher": "IEEE",
"event": "",
"keywords": [],
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
"citation": "Zhang, Z., Liu, H. & Liu, X. A Novel Nonlinear Passivity-Based Control Algorithm for Active Power Filter Using Euler-Lagrange Model. 2007 2nd IEEE Conference on Industrial Electronics and Applications 1746–1751 (2007) doi:10.1109/iciea.2007.4318709"
},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
},
{
"identifiers": {
"doi": "10.1109/tpel.2007.915174"
},
"citation": "Bina, M. T. & Bhat, A. K. S. Averaging Technique for the Modeling of STATCOM and Active Filters. IEEE Trans. Power Electron. 23, 723–734 (2008)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2004.830072"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tie.2007.894790"
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},
{
"identifiers": {
"doi": "10.1109/tie.2008.2006027"
},
"citation": "Kedjar, B. & Al-Haddad, K. DSP-Based Implementation of an LQR With Integral Action for a Three-Phase Three-Wire Shunt Active Power Filter. IEEE Trans. Ind. Electron. 56, 2821–2828 (2009)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2004.830045"
},
"citation": "Costa-Castello, R., Grino, R. & Fossas, E. Odd-Harmonic Digital Repetitive Control of a Single-Phase Current Active Filter. IEEE Trans. Power Electron. 19, 1060–1068 (2004)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
"citation": "Juming Chen, Feng Liu & Shengwei Mei. Passivity-based H/sub /spl infin// control for APF in three-phase four-wire distribution power systems. 2006 IEEE Power Engineering Society General Meeting 6 pp. (2006) doi:10.1109/pes.2006.1709007"
},
{
"identifiers": {
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},
"citation": "Matas, J., Garcia de Vicuna, L., Miret, J., Guerrero, J. M. & Castilla, M. Feedback Linearization of a Single-Phase Active Power Filter via Sliding Mode Control. IEEE Trans. Power Electron. 23, 116–125 (2008)"
},
{
"identifiers": {
"doi": "10.1109/tpwrd.2007.899786"
},
"citation": "Longhui, W., Fang, Z., Pengbo, Z., Hongyu, L. & Zhaoan, W. Study on the Influence of Supply-Voltage Fluctuation on Shunt Active Power Filter. IEEE Trans. Power Delivery 22, 1743–1749 (2007)"
},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
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},
{
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{
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},
{
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]
},
{
"id": "9301dec2-f1c8-5f3d-b6ba-52df2415eee6",
"identifiers": {
"doi": "10.1109/powercon.2012.6401301"
},
"type": "proceedings-article",
"title": "An energy-based methodology for locating the source of forced oscillations in power systems",
"authors": [
{
"given": null,
"family": "Li Ying",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": null,
"family": "Shen Chen",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": null,
"family": "Liu Feng",
"literal": null,
"source_fields": {
"sequence": "additional",
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}
}
],
"abstract": "Recently, several power grids of China came across low frequency oscillations which are difficult to explain by the traditional negative damping mechanism. Some researchers suggest that those oscillations be caused by external periodic disturbances according to the forced oscillation mechanism. It takes no doubt that the oscillation source location (means locating the disturbances) is imperative and decisive to eliminate such a kind of oscillations. This paper proposes a location methodology based on Energy Supply on Port derived from the Port-Controlled Hamiltonian theory. By calculating the energy injected to the network at corresponding ports, the oscillation sources can be effectively located, even in complicated systems containing various kinds of control devices such as governors and exciters. Different from the traditional methodology based on eigen-analysis, the proposed methodology is naturally decentralized without the dependency on global measurements. Case studies on the standard 4-machine 2-area system and the IEEE-118 bus system show the effectiveness and efficiency of the proposed methodology.",
"container_title": "2012 IEEE International Conference on Power System Technology (POWERCON)",
"publication_year": "2012",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2013-01-09",
"permalink": "an-energy-based-methodology-for-locating-the-source-of-forced-oscillations-in-power-systems",
"references": [
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{
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{
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{
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{
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},
{
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},
{
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{
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{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
"citation": "Talebi, N. & Akbarzadeh, A. Damping of Low Frequency Oscillations in power systems with neuro-fuzzy UPFC controller. 2011 10th International Conference on Environment and Electrical Engineering 1–4 (2011) doi:10.1109/eeeic.2011.5874855"
},
{
"identifiers": {
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},
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},
{
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},
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},
{
"identifiers": {
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}
]
},
{
"id": "88a7efca-34d0-515f-b01c-074645ab9604",
"identifiers": {
"doi": "10.1109/powercon53785.2021.9697747"
},
"type": "proceedings-article",
"title": "Enhanced Nonlinear Passivity Based Control for Power Conversion System",
"authors": [
{
"given": "Bin",
"family": "Yu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "State Grid Hunan Electric Power Company Limited,Research Institute,Changsha,China"
}
]
}
},
{
"given": "Ting",
"family": "Zhou",
"literal": null,
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"affiliation": [
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"name": "State Grid Hunan Electric Power Company Limited,Changsha,China"
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}
},
{
"given": "Bowen",
"family": "Huang",
"literal": null,
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"sequence": "additional",
"affiliation": [
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"name": "State Grid Hunan Comprehensive Energy Service Company Limited,Changsha,China"
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]
}
},
{
"given": "Hui",
"family": "Li",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "State Grid Hunan Electric Power Company Limited,Research Institute,Changsha,China"
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]
}
},
{
"given": "Haifeng",
"family": "Liu",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "State Grid Hunan Electric Power Company Limited,Research Institute,Changsha,China"
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]
}
},
{
"given": "Jinmu",
"family": "Lai",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Zhengzhou University,School of Electrical Engineering,Zhengzhou,China"
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]
}
}
],
"abstract": "This paper proposes an enhanced nonlinear passivity-based control (ePBC) for the power conversion system (PCS) to solve the lumped disturbances suppression problem, including external disturbances and internal disturbances consisting of system nonlinearities, model mismatches, coupling effects and so on. The PBC based on port-controlled Hamiltonian with dissipation (PCHD) model is designed for fast feedback tracking and stabilization of the nominal PCS. Then, the lumped disturbances are estimated by a nonlinear disturbance observer and compensated by feedforward term. Details on the design of baseline PBC, the nonlinear disturbance observer and stability robustness analysis are provided in this paper. With proposed method, a noticeable robustness against the lumped disturbances can be achieved as no more accurate system model is need for PBC method. The proposed method is implemented and validated through a down-scaled laboratory prototype. The simulation and experimental results are compared with the conventional PI and PBC methods, confirming that the proposed method can successfully achieve a good performance in zero steady-state tracking error, fast dynamic response and decoupling effectiveness against the lumped disturbances.",
"container_title": "2021 International Conference on Power System Technology (POWERCON)",
"publication_year": "2021",
"volume": "",
"issue": "",
"pages": "2468--2473",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2022-02-08",
"permalink": "enhanced-nonlinear-passivity-based-control-for-power-conversion-system",
"references": [
{
"identifiers": {
"doi": "10.1109/tpwrd.2013.2291576"
},
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},
{
"identifiers": {
"doi": "10.1109/tie.2009.2028350"
},
"citation": "Chien-Hung Liu & Yuan-Yih Hsu. Design of a Self-Tuning PI Controller for a STATCOM Using Particle Swarm Optimization. IEEE Trans. Ind. Electron. 57, 702–715 (2010)"
},
{
"identifiers": {
"doi": "10.1109/tie.2017.2733428"
},
"citation": "Mu, X., Wang, J., Wu, W. & Blaabjerg, F. A Modified Multifrequency Passivity-Based Control for Shunt Active Power Filter With Model-Parameter-Adaptive Capability. IEEE Trans. Ind. Electron. 65, 760–769 (2018)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2010.2089471"
},
"citation": "Hornik, T. & Zhong, Q.-C. A Current-Control Strategy for Voltage-Source Inverters in Microgrids Based on $H^{\\infty }$ and Repetitive Control. IEEE Trans. Power Electron. 26, 943–952 (2011)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2019.2900694"
},
"citation": "Lai, J. et al. Disturbance-Observer-Based PBC for Static Synchronous Compensator Under System Disturbances. IEEE Trans. Power Electron. 34, 11467–11481 (2019)"
},
{
"identifiers": {
"doi": "10.1109/jestpe.2015.2497900"
},
"citation": "Kumar, N., Saha, T. K. & Dey, J. Sliding-Mode Control of PWM Dual Inverter-Based Grid-Connected PV System: Modeling and Performance Analysis. IEEE J. Emerg. Sel. Topics Power Electron. 4, 435–444 (2016)"
},
{
"identifiers": {
"doi": "10.1109/jsyst.2019.2961314"
},
"citation": "Azimi, S. M. & Hamzeh, M. Adaptive Interconnection and Damping Assignment Passivity-Based Control of Interlinking Converter in Hybrid AC/DC Grids. IEEE Systems Journal 14, 4718–4725 (2020)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
},
{
"identifiers": {
"doi": "10.24295/cpsstpea.2017.00025"
},
"citation": "Chang, L. Review on Distributed Energy Storage Systems for Utility Applications. CPSS TPEA 2, 267–276 (2017)"
},
{
"identifiers": {
"doi": "10.1109/tie.2018.2816008"
},
"citation": "Namazi, M. M., Nejad, S. M. S., Tabesh, A., Rashidi, A. & Liserre, M. Passivity-Based Control of Switched Reluctance-Based Wind System Supplying Constant Power Load. IEEE Trans. Ind. Electron. 65, 9550–9560 (2018)"
},
{
"identifiers": {
"doi": "10.1109/tste.2016.2586941"
},
"citation": "Wang, G. et al. A Review of Power Electronics for Grid Connection of Utility-Scale Battery Energy Storage Systems. IEEE Trans. Sustain. Energy 7, 1778–1790 (2016)"
}
]
},
{
"id": "d907894f-9467-51e2-867f-23e013fb4b19",
"identifiers": {
"doi": "10.1109/ptc.2015.7232450"
},
"type": "proceedings-article",
"title": "Nonlinear control for PMSG wind turbine via port-controlled Hamiltonian system",
"authors": [
{
"given": "Yonghao",
"family": "Gui",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": null,
"family": "Chunghun Kim",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Chung Choo",
"family": "Chung",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
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"abstract": "This paper presents a nonlinear controller for a permanent-magnet synchronous generator (PMSG) wind turbine system in the framework of port-controlled Hamiltonian system. For the simplification, this work focuses on the nonlinear control law of the grid side converter (GSC) that is directly connected to the grid and affected during network disturbances. The proposed controller is designed through the analysis of PMSG GSC model from the passivity viewpoint in order to regulate the reference of the DC voltage and track the reference of the reactive current. In order to fulfill low voltage ride through requirements, a DC chopper is used to dissipate surplus active power in the DC-link. By using the proposed method, the exponential stability of the equilibrium point of the error dynamics at the origin is guaranteed through Lyapunov theory. Finally, the proposed method is validated through simulation by using SimPowerSystems, MATLAB/Simulink. The simulation results show that the performance has smaller overshoot and faster convergence when the proposed method is used than when the conventional method is used.",
"container_title": "2015 IEEE Eindhoven PowerTech",
"publication_year": "2015",
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"pages": "1--6",
"publisher": "IEEE",
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"created_date": "2015-09-03",
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{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tie.2004.831753"
},
"citation": "Lee, T.-S. Lagrangian Modeling and Passivity-Based Control of Three-Phase AC/DC Voltage-Source Converters. IEEE Trans. Ind. Electron. 51, 892–902 (2004)"
},
{
"identifiers": {},
"citation": "gui, Tracking controller design methodology for passive port-controlled hamiltonians with application to type-2 STATCOM systems. Proc IEEE Annual Conference on Desicion and Control (2013)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tec.2005.853735"
},
"citation": "Chinchilla, M., Arnaltes, S. & Burgos, J. C. Control of Permanent-Magnet Generators Applied to Variable-Speed Wind-Energy Systems Connected to the Grid. IEEE Trans. On Energy Conversion 21, 130–135 (2006)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2005.857390"
},
"citation": "Mullane, A., Lightbody, G. & Yacamini, R. Wind-Turbine Fault Ride-Through Enhancement. IEEE Trans. Power Syst. 20, 1929–1937 (2005)"
},
{
"identifiers": {
"doi": "10.1109/tec.2002.801989"
},
"citation": "Saccomando, G., Svensson, J. & Sannino, A. Improving voltage disturbance rejection for variable-speed wind turbines. IEEE Trans. On Energy Conversion 17, 422–428 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2008.921192"
},
"citation": "Matas, J., Castilla, M., Guerrero, J. M., de Vicuna, L. G. & Miret, J. Feedback Linearization Of Direct-Drive Synchronous Wind-Turbines Via a Sliding Mode Approach. IEEE Trans. Power Electron. 23, 1093–1103 (2008)"
},
{
"identifiers": {
"doi": "10.1049/iet-rpg:20070033"
},
"citation": "Conroy, J. F. & Watson, R. Low-voltage ride-through of a full converter wind turbine with permanent magnet generator. IET Renew. Power Gener. 1, 182–189 (2007)"
},
{
"identifiers": {
"doi": "10.1109/tie.2012.2190954"
},
"citation": "Alepuz, S., Calle, A., Busquets-Monge, S., Kouro, S. & Wu, B. Use of Stored Energy in PMSG Rotor Inertia for Low-Voltage Ride-Through in Back-to-Back NPC Converter-Based Wind Power Systems. IEEE Trans. Ind. Electron. 60, 1787–1796 (2013)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2011.2171999"
},
"citation": "Kim, K.-H., Jeung, Y.-C., Lee, D.-C. & Kim, H.-G. LVRT Scheme of PMSG Wind Power Systems Based on Feedback Linearization. IEEE Trans. Power Electron. 27, 2376–2384 (2012)"
},
{
"identifiers": {
"doi": "10.1109/tie.2010.2103910"
},
"citation": "Liserre, M., Cardenas, R., Molinas, M. & Rodriguez, J. Overview of Multi-MW Wind Turbines and Wind Parks. IEEE Trans. Ind. Electron. 58, 1081–1095 (2011)"
},
{
"identifiers": {
"doi": "10.1109/tia.2011.2181290"
},
"citation": "Blaabjerg, F., Liserre, M. & Ma, K. Power Electronics Converters for Wind Turbine Systems. IEEE Trans. on Ind. Applicat. 48, 708–719 (2012)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(96)00207-5"
},
"citation": "Sira-Ramirez, H., Perez-Moreno, R. A., Ortega, R. & Garcia-Esteban, M. Passivity-based controllers for the stabilization of Dc-to-Dc Power converters. Automatica 33, 499–513 (1997)"
}
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"doi": "10.1109/ramech.2004.1438900"
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"type": "proceedings-article",
"title": "Control of two-link flexible manipulators via generalized canonical transformation",
"authors": [
{
"given": null,
"family": "Xu Bo",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "K.",
"family": "Fujimoto",
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}
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{
"given": "Y.",
"family": "Hayakawa",
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"abstract": "Since the two-link flexible manipulator is an underactuated system which provide a challenge to control engineers and researchers. In order to control this kind of systems more effectively, many new control theories and methods are explored to use to design controller. Among these methods, the energy-based control design method has gained a lot of attentions in these years, which can provide more physical insights in nonlinear control. Especially, the port-controlled Hamiltonian system and generalized canonical transformation has some advantages on the modeling and control design of these nonlinear systems. In this paper, we proposed a control design for two-link flexible manipulators via generalized canonical transformation, arid the simulation results are shown to prove the effectiveness of the controllers.",
"container_title": "IEEE Conference on Robotics, Automation and Mechatronics, 2004.",
"publication_year": "2005",
"volume": "1",
"issue": "",
"pages": "107--112",
"publisher": "IEEE",
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"created_date": "2005-06-15",
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"references": [
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
{
"identifiers": {
"doi": "10.1002/rnc.804"
},
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},
{
"identifiers": {
"doi": "10.1016/s0167-6911(00)00091-8"
},
"citation": "Fujimoto, K. & Sugie, T. Canonical transformation and stabilization of generalized Hamiltonian systems. Systems & Control Letters 42, 217–227 (2001)"
},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "stramigioli, Passive output feedback and port interconnection. Proceedings of IFAC Symposium on Nonlinear Control Systems (1998)"
},
{
"identifiers": {
"doi": "10.1002/rob.4620040504"
},
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{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
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{
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{
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{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1177/027836498800700404"
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}
]
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{
"id": "fbb61369-ebe4-5437-8620-84430a514087",
"identifiers": {
"doi": "10.1109/ramech.2011.6070466"
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"type": "proceedings-article",
"title": "Position tracking control of PMSM based on state error PCH and MTPA principle",
"authors": [
{
"given": "Haisheng",
"family": "Yu",
"literal": null,
"source_fields": {
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"affiliation": []
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{
"given": "Xudong",
"family": "Liu",
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},
{
"given": "Jinpeng",
"family": "Yu",
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"affiliation": []
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},
{
"given": "Qiang",
"family": "Song",
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],
"abstract": "The energy-shaping and maximum torque per ampere (MTPA) principle are used to develop the modeling and position tracking control of permanent magnet synchronous motor (PMSM) in this paper. Firstly, based on the port-controlled Hamiltonian (PCH) systems theory, a PCH position tracking control model of PMSM is established. Secondly, using closed-loop state error PCH control and MTPA method, the control strategy of PMSM is presented when load torque is known and unknown. The control problem of the PMSM is reduced to the solution of a partial differential equation. The partial differential equation can be transformed into a set of general differential equation by assigning desired interconnection and damping matrix. Finally, the equilibrium stability is also analyzed. The simulation results show that the proposed scheme exhibits good position tracking control and load torque disturbances attenuation performances.",
"container_title": "2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM)",
"publication_year": "2011",
"volume": "",
"issue": "",
"pages": "113--118",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2011-11-07",
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"references": [
{
"identifiers": {
"doi": "10.1109/tie.2003.817574"
},
"citation": "Yaolong Tan, Jie Chang & Hualin Tan. Adaptive backstepping control and friction compensation for ac servo with inertia and load uncertainties. IEEE Trans. Ind. Electron. 50, 944–952 (2003)"
},
{
"identifiers": {
"doi": "10.1016/s0378-7796(01)00135-3"
},
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},
{
"identifiers": {
"doi": "10.1109/tac.2003.815037"
},
"citation": "Yuzhen Wang, Daizhan Cheng, Chunwen Li & You Ge. Dissipative hamiltonian realization and energy-based L/sub 2/-disturbance attenuation control of multimachine power systems. IEEE Trans. Automat. Contr. 48, 1428–1433 (2003)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {},
"citation": "yu, MTPA control of PM synchronous motor based on port-controlled Hamiltonian system theory. Proceedings of the CSEE (2006)"
},
{
"identifiers": {
"doi": "10.1109/9.661597"
},
"citation": "Chiasson, J. A new approach to dynamic feedback linearization control of an induction motor. IEEE Trans. Automat. Contr. 43, 391–397 (1998)"
},
{
"identifiers": {
"doi": "10.1109/wcica.2010.5554470"
},
"citation": "Yu, H., Shanshan Yu, Jin Liu & Jinpeng Yu. L2 gain disturbance attenuation of PMSM based on Hamiltonian systems control theory. 2010 8th World Congress on Intelligent Control and Automation 2502–2506 (2010) doi:10.1109/wcica.2010.5554470"
},
{
"identifiers": {
"doi": "10.1002/rnc.804"
},
"citation": "Rodríguez, H. & Ortega, R. Stabilization of electromechanical systems via interconnection and damping assignment. Intl J Robust & Nonlinear 13, 1095–1111 (2003)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
"citation": "yu, Computer control technology (2007)"
},
{
"identifiers": {
"doi": "10.1080/00207170010010551"
},
"citation": "Cheng, D. & Spurgeon, S. Stabilization of Hamiltonian systems with dissipation. International Journal of Control 74, 465–473 (2001)"
},
{
"identifiers": {
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},
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}
]
},
{
"id": "0c41b328-59a1-550e-9203-04233579af34",
"identifiers": {
"doi": "10.1109/ri2c48728.2019.8999956"
},
"type": "proceedings-article",
"title": "Study of Hamiltonian Energy Control of Multiphase Interleaved Fuel Cell Boost Converter",
"authors": [
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"given": "Pongsiri",
"family": "Mungporn",
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{
"given": "Serge",
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{
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{
"given": "Nicu",
"family": "Bizon",
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{
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{
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"given": "Zahir",
"family": "Shah",
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{
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"abstract": "This paper studys a multi-phase boost converter for fuel cell (FC) applications. An original control law based on the Hamiltonian energy control principle for dc microgrid is considered. Using the port-controlled Hamiltonian property, we propose simple solutions to the system performance and stabilization problems when the interaction between power sources and constant power loads (CPLs). To corroborate the proposed control law, a prototype FC power converter (2.5-kW two-phase boost converter) is implemented in the laboratory. The Methanol FC system includes a fuel reformer that converts methanol and water liquid fuel into hydrogen gas to polymer electrolyte membrane FC (PEMFC) stack (2.5-kW, 50 V). The proposed control approach is realized with a digital estimate in a dSPACE MicroLabBox controller card. The experimental and simulation results verify that this is a good control scheme during constant power load cycles.",
"container_title": "2019 Research, Invention, and Innovation Congress (RI2C)",
"publication_year": "2019",
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"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2020-02-18",
"permalink": "study-of-hamiltonian-energy-control-of-multiphase-interleaved-fuel-cell-boost-converter",
"references": [
{
"identifiers": {
"doi": "10.1049/iet-pel.2017.0670"
},
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},
{
"identifiers": {
"doi": "10.1109/tia.2018.2848959"
},
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},
{
"identifiers": {
"doi": "10.1109/tcsii.2018.2805774"
},
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},
{
"identifiers": {
"doi": "10.1109/tac.2017.2732283"
},
"citation": "Zhang, M., Borja, P., Ortega, R., Liu, Z. & Su, H. PID Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 63, 1032–1044 (2018)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2018.2789450"
},
"citation": "Liu, Z., Geng, Z. & Hu, X. An Approach to Suppress Low Frequency Oscillation in the Traction Network of High-Speed Railway Using Passivity-Based Control. IEEE Trans. Power Syst. 33, 3909–3918 (2018)"
},
{
"identifiers": {
"doi": "10.1109/access.2018.2831251"
},
"citation": "Lei, Y., Lin, X. & Zhu, Y. Passivity-Based Control Strategy for SMES Under an Unbalanced Voltage Condition. IEEE Access 6, 28768–28776 (2018)"
},
{
"identifiers": {
"doi": "10.1109/access.2018.2868919"
},
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},
{
"identifiers": {
"doi": "10.1016/j.enconman.2009.11.018"
},
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},
{
"identifiers": {
"doi": "10.1109/tcsii.2010.2082830"
},
"citation": "Thounthong, P. & Pierfederici, S. A New Control Law Based on the Differential Flatness Principle for Multiphase Interleaved DC–DC Converter. IEEE Trans. Circuits Syst. II 57, 903–907 (2010)"
},
{
"identifiers": {
"doi": "10.1109/mie.2008.930365"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/mias.2009.932604"
},
"citation": "Thounthong, P., Davat, B., Rael, S. & Sethakul, P. Fuel starvation. IEEE Ind. Appl. Mag. 15, 52–59 (2009)"
},
{
"identifiers": {
"doi": "10.1016/j.ijhydene.2017.01.086"
},
"citation": "Bizon, N., Thounthong, P., Raducu, M. & Constantinescu, L. M. Designing and modelling of the asymptotic perturbed extremum seeking control scheme for tracking the global extreme. International Journal of Hydrogen Energy 42, 17632–17644 (2017)"
},
{
"identifiers": {
"doi": "10.1109/tvt.2008.2010516"
},
"citation": "Rahimi, A. M. & Emadi, A. An Analytical Investigation of DC/DC Power Electronic Converters With Constant Power Loads in Vehicular Power Systems. IEEE Trans. Veh. Technol. 58, 2689–2702 (2009)"
},
{
"identifiers": {
"doi": "10.1016/j.ijhydene.2017.08.068"
},
"citation": "Slah, F., Mansour, A., Hajer, M. & Faouzi, B. Analysis, modeling and implementation of an interleaved boost DC-DC converter for fuel cell used in electric vehicle. International Journal of Hydrogen Energy 42, 28852–28864 (2017)"
},
{
"identifiers": {
"doi": "10.1016/j.enconman.2017.11.001"
},
"citation": "Fathabadi, H. Fuel cell hybrid electric vehicle (FCHEV): Novel fuel cell/SC hybrid power generation system. Energy Conversion and Management 156, 192–201 (2018)"
},
{
"identifiers": {
"doi": "10.1109/tie.2018.2803723"
},
"citation": "Zhou, D., Al-Durra, A., Matraji, I., Ravey, A. & Gao, F. Online Energy Management Strategy of Fuel Cell Hybrid Electric Vehicles: A Fractional-Order Extremum Seeking Method. IEEE Trans. Ind. Electron. 65, 6787–6799 (2018)"
},
{
"identifiers": {
"doi": "10.1109/tia.2012.2191250"
},
"citation": "Magne, P., Marx, D., Nahid-Mobarakeh, B. & Pierfederici, S. Large-Signal Stabilization of a DC-Link Supplying a Constant Power Load Using a Virtual Capacitor: Impact on the Domain of Attraction. IEEE Trans. on Ind. Applicat. 48, 878–887 (2012)"
}
]
},
{
"id": "12c3505a-95ae-53c4-ac00-0e9a1c0aa7d9",
"identifiers": {
"doi": "10.1109/robio49542.2019.8961519"
},
"type": "proceedings-article",
"title": "Simultaneous Stabilization of Marine Dynamic Positioning System Based on PCH Model¯",
"authors": [
{
"given": "Pei",
"family": "Zhou",
"literal": null,
"source_fields": {
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}
},
{
"given": "Renming",
"family": "Yang",
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"abstract": "This paper studies two dynamic positioning ship systems’ simultaneous stabilization problem. The Hamilton function method is used to study the issue of simultaneous stabilization with unknown disturbance, and the related controllers are designed. First of all, we transform the dynamic positioning ship model into port controlled Hamiltonian (PCH) model, and the general simultaneous stabilization conditions are developed. Based on which, by adding the external interference, the robust controller is designed. Finally, the simulation results are tested by an illustrative example, which is shown to meet the expected requirements, and prove the rationality of the designed controller.",
"container_title": "2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)",
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"type": "proceedings-article",
"title": "Towards more Energy Efficient Pneumatic Soft Actuators using a Port-Hamiltonian Approach",
"authors": [
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"given": "Ho-Tak D.",
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"given": "Jamie O.",
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"abstract": "Soft pneumatic actuators are very popular in the soft robotic community due to their ease of manufacturing and simplicity of control. Currently, the efficiency of such soft actuators and their ability to do useful work are rarely investigated in a formal approach. The lack of task-orientated development approaches presents a barrier to utilize soft robotic systems in our everyday lives. In this paper, we describe an experimental approach based on port-Hamiltonian theory applied on a type of pneumatic network (pneu-net) actuator to investigate the efficiency of task-orientated work. We can obtain efficiency from the external interactions of the port-Hamiltonian system. If we can minimize the internal energy interactions, then the power continuous nature of the port-Hamiltonian structure ensures more input energy will result in more useful work done at the output. We found out that higher efficiency actuators can be achieved with a softer material and a thinner wall thickness in the desired direction of the deformation. The internal mechanical energy storage is reduced as a result. However, if the task requires a higher work-done then a stiffer material is required. We can start to define a design approach based on the task. The task can be generalized in terms of energy. We can select the material properties suitable for the magnitude of work done. We can design the geometry to minimize the internal energy stored. The empirical model of the port-Hamiltonian structure provides insights into how the mechanical efficiency varies in terms of design parameters and the port-Hamiltonian approach is a step towards more practical, task-orientated soft robotic systems.",
"container_title": "2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)",
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"pages": "277--282",
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{
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{
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"container_title": "IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004",
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"volume": "",
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"publisher": "IEEE",
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"created_date": "2004-06-10",
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{
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"identifiers": {
"doi": "10.1109/robot.2006.1641981"
},
"type": "proceedings-article",
"title": "Port-based modelling of manipulators with flexible links",
"authors": [
{
"given": "A.",
"family": "Macchelli",
"literal": null,
"source_fields": {
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"affiliation": []
}
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{
"given": "S.",
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{
"given": "C.",
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"abstract": "In this paper, the port Hamiltonian model of a manipulator is presented as the result of the power-conserving interconnection of a set of main components (rigid bodies, flexible links and kinematic pairs). Since rigid bodies and flexible links are described within the port Hamiltonian formalism, their interconnection is possible once a proper relation between the power conjugated port variables is deduced. These relations are the analogous of the Kirchoff laws of circuit theory. The final model is a mixed port Hamiltonian system because of the presence of a finite dimensional subsystem modelling the rigid bodies and of an infinite dimensional one describing the flexible links. The intrinsic modularity of the approach simplifies the model deduction and simulation, while the Hamiltonian description suggests the development of energy-based controllers",
"container_title": "Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.",
"publication_year": "2006",
"volume": "",
"issue": "",
"pages": "1886--1891",
"publisher": "IEEE",
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{
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},
{
"id": "166f5c11-ea09-5cee-8ebe-1a97e087e435",
"identifiers": {
"doi": "10.1109/robot.2007.363607"
},
"type": "proceedings-article",
"title": "Port-Hamiltonian approaches to motion generation for mechanical systems",
"authors": [
{
"given": "Satoru",
"family": "Sakai",
"literal": null,
"source_fields": {
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"affiliation": []
}
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{
"given": "Stefano",
"family": "Stramigioli",
"literal": null,
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"abstract": "This paper gives new motion generation methods for mechanical port-Hamiltonian systems. First, we propose a generation method based on an asymptotic stabilization method without damping assignment. This asymptotic stabilization method preserves the Hamiltonian structure in the closed-loop system although the controller itself is not a port-Hamiltonian system. Second, we propose another method based on an adaptive asymptotic stabilization method for unknown damping. This adaptive asymptotic stabilizer does not use the value and the sign of the damping at all. Finally, we confirm the effectiveness of our techniques in some numerical simulation.",
"container_title": "Proceedings 2007 IEEE International Conference on Robotics and Automation",
"publication_year": "2007",
"volume": "",
"issue": "",
"pages": "1948--1953",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2007-06-07",
"permalink": "port-hamiltonian-approaches-to-motion-generation-for-mechanical-systems",
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{
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"abstract": "In this paper, two problems related to the simulation of virtual environments for haptic systems are considered. The first problem is how to simulate, in discrete time and with low computational effort, dynamic systems in order to preserve their passivity properties. As a matter of fact, simulation of complex systems in real time may lead to undesired effects, like unstable behaviours of the haptic interface, if proper care is not given to the definition of the simulation algorithm. An algorithm is presented here able to maintain the passivity properties of the physical (simulated) system with a reduced computational complexity. The second problem discussed in this paper is the interconnection of algorithms running at different frequencies, i.e., the control algorithm of the haptic interface (running typically at high frequency) and the algorithm simulating the virtual environment (running at lower frequency). A proper software interface, able to connect these two algorithms in an energetic-consistent manner, is presented and discussed. The general framework of both these techniques is the passivity theory and the so-called port-Hamiltonian formalism.",
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{
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"doi": "10.1177/0278364905057055"
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{
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"doi": "10.1109/robot.2005.1570480"
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{
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{
"identifiers": {
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{
"identifiers": {
"doi": "10.1109/haptic.2004.1287217"
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{
"identifiers": {},
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},
{
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"citation": "Stramigioli, A novel theory for sample data system passivity. In Proc.IEEE IROS 02"
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{
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"doi": "10.1109/tro.2004.842330"
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"citation": "Stramigioli, S., Secchi, C., van der Schaft, A. J. & Fantuzzi, C. Sampled data systems passivity and discrete port-Hamiltonian systems. IEEE Transactions on Robotics vol. 21 574–587 (2005)"
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"type": "proceedings-article",
"title": "Regulation control of underactuated mechanical systems based on a new matching equation of port-controlled hamiltonian systems",
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"given": null,
"family": "Zheng Wang",
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"abstract": "We consider the control of Port-Controlled Hamiltonian (PCH) systems, which are a generalization of Euler-Lagrange Systems. A new matching equation for PCH systems is developed so that Interconnection Damping Assignment Passivity-Based Control (IDA-PBC) can be extended to the regulation of some underactuated PCH systems whose kinetic energy must be modified. A simple underactuated mechanical system (the inertial wheel pendulum) is used to demonstrate the effectiveness of the proposed method..",
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"title": "Multi-dimensional passive sampled Port-Hamiltonian systems",
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"abstract": "Passivity of virtual environments running in discrete time is a sufficient condition for stability of the system. The framework for passive sampled Port-Hamiltonian systems allows multi-dimensional virtual environments exhibiting internal dynamic behavior to be computed on a discrete medium in a passive manner. It is shown that a causality analysis is required in the framework to detect if any of the model elements have, a time dependent change of energy function in the energy balance of the system. The Standard Linear Solid model, which is often used to simulate the visco-elastic interaction with soft biological tissue is used as an example. Simulated and experimental results are provided to demonstrate the benefit of the described framework. It is shown that using this approach a multidimensional model which is passive in the continuous domain remains passive in the discrete domain, whereas a standard discretization approach can become non-passive.",
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"type": "proceedings-article",
"title": "A novel approach to haptic tele-operation of aerial robot vehicles",
"authors": [
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"given": "Stefano",
"family": "Stramigioli",
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"abstract": "We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D environments common in inspection and surveillance tasks. Our approach is based on energetic considerations and uses the concepts of network theory and port-Hamiltonian systems. We provide a general framework for addressing problems such as mapping the limited stroke of a ‘master’ joystick to the infinite stroke of a ‘slave’ vehicle, while preserving passivity of the closed-loop system in the face of potential time delays in communications links and limited sensor data.",
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{
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"title": "Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping",
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"abstract": "This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. A brief literature survey reveals the need for minimal component designs and the benefits of impedance control schemes for interaction tasks such as grasping. The novel robotic finger concept supports these insights by combining three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities. The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework. The framework proved to be suitable in analyzing and understanding the finger properties, which will be used for future controller design.",
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"pages": "771--776",
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"title": "Passivity-Based Control Applied of a Reaction Wheel Pendulum: an IDA-PBC Approach",
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"given": "Oscar Danilo",
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"abstract": "This paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear controller that preserves the Hamiltonian structure in closed-loop by guaranteeing stability properties in the sense of Lyapunov. Numerical results confirm the theoretical development presented throughout simulations in Simulink package from MATLAB. Comparison with a Lyapunov-based approach is also provided.",
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"doi": "10.1109/ropec50909.2020.9258690"
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"type": "proceedings-article",
"title": "Direct Power Control Design for Charging Electric Vehicles: A Passivity-Based Control Approach",
"authors": [
{
"given": "Oscar",
"family": "Montoya",
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"given": "Javier",
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"abstract": "This paper explores the controller's design for charging batteries for electric vehicle applications using the direct power representation of the system. These controllers' design is made via passivity-based control (PBC) theory by considering the open-loop port-Hamiltonian representation of the converter. The usage of PBC theory allows designing controllers for closed-loop operation, guaranteeing stability operation in the sense of Lyapunov. Two different PBC methods are explored in this contribution; these are i) interconnection and damping assignment PBC, and ii) proportional-integral design. These methods work over the system's incremental model for reaching a control law that ensures asymptotic stability. Numerical validations show that both controllers allow controlling active and reactive power independently in four-quadrants. This is important due to allow using batteries as dynamic energy compensators if it is needed. All the simulations are conducted in MATLAB simulink via SymPowerSystems library.",
"container_title": "2020 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)",
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"issue": "",
"pages": "1--6",
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"citation": "Serra, F. M. & De Angelo, C. H. IDA-PBC controller design for grid connected Front End Converters under non-ideal grid conditions. Electric Power Systems Research vol. 142 12–19 (2017)"
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"citation": "Ortega, R., Mareels, I., van der Schaft, A. J. & Maschke, B. Energy shaping revisited. Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) 121–126 doi:10.1109/cca.2000.897410"
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"citation": "Montoya Giraldo, O. D., Gil González, W. J., Garcés Ruiz, A., Escobar Mejía, A. & Grisales Noreña, L. F. Nonlinear Control for Battery Energy Storage Systems in Power Grids. 2018 IEEE Green Technologies Conference (GreenTech) 65–70 (2018) doi:10.1109/greentech.2018.00021"
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"citation": "Gil–-González, W., Montoya, O. D. & Garces, A. Direct power control of electrical energy storage systems: A passivity-based PI approach. Electric Power Systems Research vol. 175 105885 (2019)"
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"doi": "10.1016/j.conengprac.2015.07.002"
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"citation": "Cisneros, R. et al. Global tracking passivity-based PI control of bilinear systems: Application to the interleaved boost and modular multilevel converters. Control Engineering Practice vol. 43 109–119 (2015)"
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"abstract": "This paper proposes a proportional-integral passivity-based controller (PI-PBC) for supporting voltage in linear loads integrated with Ćuk converters. An adaptive load estimator is also employed to avoid current measurements at the load point. This estimator permits an on-line estimation of the load conductance for maintaining the output voltage as constant as possible independent of its variations. The proposed PI-PBC allows guaranteeing stability conditions in Lyapunov's sense for a closed-loop operation by exploiting the port-Hamiltonian structure of the Ćuk converter model. Numerical simulations evidence the advantages of using PI actions for PBC designs compared with the classical interconnection and damping (IDA-PBC) approach. All numerical simulations are conducted via MATLAB/Simulink software.",
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"doi": "10.1109/iceeot.2016.7755183"
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"citation": "George, M. C. & Raj, C. R. A review on PFC Cuk converter fed BLDC motor drive using artificial neural network. 2016 International Conference on Electrical, Electronics, and Optimization Techniques (ICEEOT) 281–286 (2016) doi:10.1109/iceeot.2016.7755183"
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"citation": "Gil-González, W., Montoya, O. D. & Garces, A. Direct power control for VSC-HVDC systems: An application of the global tracking passivity-based PI approach. International Journal of Electrical Power & Energy Systems 110, 588–597 (2019)"
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"doi": "10.1016/j.energy.2019.07.157"
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"citation": "Hernández, J. C., Sanchez-Sutil, F. & Muñoz-Rodríguez, F. J. Design criteria for the optimal sizing of a hybrid energy storage system in PV household-prosumers to maximize self-consumption and self-sufficiency. Energy 186, 115827 (2019)"
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},
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"citation": "Montoya, O. D., Gil-González, W. & Garces, A. Distributed energy resources integration in single-phase microgrids: An application of IDA-PBC and PI-PBC approaches. International Journal of Electrical Power & Energy Systems 112, 221–231 (2019)"
},
{
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},
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},
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},
{
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"doi": "10.1109/tte.2015.2505302"
},
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},
{
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},
"citation": "Linares Flores, J., Barahona Avalos, J. L. & Bautista Espinosa, C. A. Passivity-Based Controller and Online Algebraic Estimation of the Load Parameter of the DC-to-DC power converter Cuk Type. IEEE Latin Am. Trans. 9, 784–791 (2011)"
},
{
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"doi": "10.1109/28.993162"
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},
{
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"doi": "10.1016/j.conengprac.2015.07.002"
},
"citation": "Cisneros, R. et al. Global tracking passivity-based PI control of bilinear systems: Application to the interleaved boost and modular multilevel converters. Control Engineering Practice 43, 109–119 (2015)"
},
{
"identifiers": {
"doi": "10.1109/tvt.2019.2921851"
},
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},
{
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},
{
"identifiers": {
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"title": "Adaptive Control of a Single-Phase Grid-Forming for Feeding Unknown Resistive Loads",
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"abstract": "This paper addresses the problem of sinusoidal voltage generation in linear loads using a voltage source inverter (VSI). The port-Hamiltonian structure in open-loop is used to design a passivity-based controller with proportional-integral gains (PI-PBC) in order to develop the control strategy. The main advantage of using passivity-based controllers corresponds to the possibility of guaranteeing asymptotic stability by transforming the trajectory tracking problem into a regulation control one. In addition to the PI-PBC, a linear load estimator is employed based on an integral formulation to determine the value of the equivalent conductance in the load, which reduces the number of current sensors. Numerical validations demonstrate that the sinusoidal voltage provided by the VSI to the load has a tracking error lower than 1 %, with harmonic distortions lower than 2.6 %, both for voltage and currents in the load. All the simulations were conducted in MATLAB/Simulink using the SimPowerSystems library version 2017a.",
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"doi": "10.1016/j.ijepes.2019.04.046"
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"citation": "Montoya, O. D., Gil-González, W. & Garces, A. Distributed energy resources integration in single-phase microgrids: An application of IDA-PBC and PI-PBC approaches. International Journal of Electrical Power & Energy Systems vol. 112 221–231 (2019)"
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"doi": "10.3390/electronics9050847"
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"citation": "Serra, F. M., Fernández, L. M., Montoya, O. D., Gil-González, W. & Hernández, J. C. Nonlinear Voltage Control for Three-Phase DC-AC Converters in Hybrid Systems: An Application of the PI-PBC Method. Electronics vol. 9 847 (2020)"
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{
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"doi": "10.1109/jestpe.2018.2874449"
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"doi": "10.1109/tpel.2015.2480845"
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},
{
"identifiers": {},
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"doi": "10.1109/psce.2011.5772504"
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{
"identifiers": {
"doi": "10.1109/tpel.2017.2653861"
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},
{
"identifiers": {
"doi": "10.1201/9781315269542"
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{
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"doi": "10.1080/00207217.2016.1191087"
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"citation": "Serra, F. M., De Angelo, C. H. & Forchetti, D. G. IDA-PBC control of a DC–AC converter for sinusoidal three-phase voltage generation. International Journal of Electronics vol. 104 93–110 (2016)"
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"doi": "10.1002/9780470551578"
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"abstract": "A methodology to control a Doubly-Fed Induction Generator (DFIG) in zone III without a pitch controller is described. In zone III, the mechanical power harvested through the wind kinetic energy exceeds the rated generator power. Thus, when operating in this zone, the control objective is to keep the generator’s rated power constant. The classical asynchronous machine model in per unit is adapted to satisfy generator operation, power delivered to the grid at the stator winding while preserving the Port-Controlled Hamiltonian (PCH) structure. A control law is synthesized using energy-shaping control by varying the rotor angular velocity reference according to zone III demands. A series of simulations keeping the pitch angle constant are presented to show the effectiveness of the proposed methodology.",
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{
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{
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{
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},
"citation": "Ortega R, Mareels I, van der Schaft AJ, Maschke B Energy shaping revisited. Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) 121–12"
},
{
"identifiers": {
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{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/wcica.2010.5554810"
},
"citation": "Huihui Song, Yanbin Qu (2010) Energy-based controller for machine-side converter of doubly-fed wind generator. 2010 8th World Congress on Intelligent Control and Automation 1402–140"
},
{
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"doi": "10.1109/tpwrs.2020.3048141"
},
"citation": "Li P, Wang J, Xiong L, Huang S, Ma M, Wang Z (2021) Energy-Shaping Controller for DFIG-Based Wind Farm to Mitigate Subsynchronous Control Interaction. IEEE Trans Power Syst 36(4):2975–2991. https://doi.org/10.1109/tpwrs.2020.304814"
}
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"title": "Port-Hamiltonian modelling of a car-like robot",
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"given": "Daniel",
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"abstract": "This paper proposes a dynamical modelling of a car-like robot based on the port-Hamiltonian approach. It consists in projecting the dynamics of a free body into the possible velocity space determined by the non-holonomic constraints of the vehicle. For this approach, it is considered a simplified bicycle-like representation of the Ackermann mechanism with rear traction and steering control on the front wheel. Simulations are given to illustrate the effectiveness of the approach.",
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"doi": "10.1109/rpic.2015.7497079"
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"type": "proceedings-article",
"title": "Port-hamiltonian modelling of a differential drive mobile robot with reference velocities as inputs",
"authors": [
{
"given": "Javier",
"family": "Gimenez",
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"affiliation": [
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"name": "Instituto de Automática, Universidad Nacional de San Juan-CONICET, Av. Libertador Oeste 1109, San Juan-Argentina"
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{
"given": "Claudio",
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"name": "Instituto de Automática, Universidad Nacional de San Juan-CONICET, Av. Libertador Oeste 1109, San Juan-Argentina"
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"given": "Ricardo",
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"name": "Instituto de Automática, Universidad Nacional de San Juan-CONICET, Av. Libertador Oeste 1109, San Juan-Argentina"
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"abstract": "In this paper it is proposed a dynamic model of a differential drive mobile robot based on the port-Hamiltonian approach. The model inputs are reference velocities, as in most commercial robots. The model arises from a positioning controller at desired velocities, which is asymptotically stable.",
"container_title": "2015 XVI Workshop on Information Processing and Control (RPIC)",
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"pages": "1--6",
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"doi": "10.1109/rtucon48111.2019.8982375"
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"type": "proceedings-article",
"title": "A Stochastic Nonlinear Excitation Controller for Transient Stabilization in a Power System",
"authors": [
{
"given": "Yan",
"family": "Xu",
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{
"given": "Fushuan",
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{
"given": "Ivo",
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{
"given": "Zeng",
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{
"given": "Minghui",
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{
"given": "Hongwei",
"family": "Zhao",
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{
"given": "Huiyu",
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"abstract": "Stochastic disturbances caused by renewable energy systems (e.g., wind power and solar power) may deteriorate the transient stability problems in a power system. This paper proposes a stochastic nonlinear excitation controller for transient stability enhancement in a multimachine power system. The third-order model of generators is adopted. A new probabilistic stability criterion is presented where the magnitude of a stochastic disturbance is included explicitly. Then the whole power system is represented by a nonlinear stochastic differential equation set. The proposed excitation controller is implemented by leveraging the feature of a stochastic port-Hamiltonian system. Compared with the controller design methods based on the deterministic power system model, the proposed method can improve the system stability even in the presence of continuous stochastic disturbances on power injections. Besides, it is convenient to select the Hamiltonian function as the stochastic Lyapunov function in the proposed approach. Finally, the effectiveness of the proposed method is demonstrated by a two-area test system with a three-phase fault.",
"container_title": "2019 IEEE 60th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)",
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"pages": "1--4",
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"created_date": "2020-02-07",
"permalink": "a-stochastic-nonlinear-excitation-controller-for-transient-stabilization-in-a-power-system",
"references": [
{
"identifiers": {
"doi": "10.1109/tpwrs.2012.2183396"
},
"citation": "Odun-Ayo, T. & Crow, M. L. Structure-Preserved Power System Transient Stability Using Stochastic Energy Functions. IEEE Transactions on Power Systems vol. 27 1450–1458 (2012)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2017.2720687"
},
"citation": "Ju, P. et al. Analytical Assessment for Transient Stability Under Stochastic Continuous Disturbances. IEEE Transactions on Power Systems vol. 33 2004–2014 (2018)"
},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.3390/en11112980"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tac.2012.2229791"
},
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},
{
"identifiers": {
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},
"citation": "Satoh, S. & Fujimoto, K. On passivity based control of stochastic port-Hamiltonian systems. 2008 47th IEEE Conference on Decision and Control 4951–4956 (2008) doi:10.1109/cdc.2008.4738733"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1016/j.epsr.2006.02.014"
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},
{
"identifiers": {
"doi": "10.1109/tpwrs.2014.2359659"
},
"citation": "Kanchanaharuthai, A., Chankong, V. & Loparo, K. A. Transient Stability and Voltage Regulation in Multimachine Power Systems Vis-à-Vis STATCOM and Battery Energy Storage. IEEE Transactions on Power Systems vol. 30 2404–2416 (2015)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2013.2283867"
},
"citation": "Mahmud, M. A., Pota, H. R., Aldeen, M. & Hossain, M. J. Partial Feedback Linearizing Excitation Controller for Multimachine Power Systems to Improve Transient Stability. IEEE Transactions on Power Systems vol. 29 561–571 (2014)"
},
{
"identifiers": {
"doi": "10.1109/tste.2015.2454333"
},
"citation": "Wang, X., Chiang, H.-D., Wang, J., Liu, H. & Wang, T. Long-Term Stability Analysis of Power Systems With Wind Power Based on Stochastic Differential Equations: Model Development and Foundations. IEEE Transactions on Sustainable Energy vol. 6 1534–1542 (2015)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2013.2266441"
},
"citation": "Milano, F. & Zarate-Minano, R. A Systematic Method to Model Power Systems as Stochastic Differential Algebraic Equations. IEEE Transactions on Power Systems vol. 28 4537–4544 (2013)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2014.2315962"
},
"citation": "Cvetkovic, M. & Ilic, M. D. Ectropy-Based Nonlinear Control of FACTS for Transient Stabilization. IEEE Transactions on Power Systems vol. 29 3012–3020 (2014)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2012.2232317"
},
"citation": "Wang, K. & Crow, M. L. The Fokker-Planck Equation for Power System Stability Probability Density Function Evolution. IEEE Transactions on Power Systems vol. 28 2994–3001 (2013)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2012.2187466"
},
"citation": "Dong, Z. Y., Zhao, J. H. & Hill, D. J. Numerical Simulation for Stochastic Transient Stability Assessment. IEEE Transactions on Power Systems vol. 27 1741–1749 (2012)"
},
{
"identifiers": {
"doi": "10.1109/tcns.2014.2304868"
},
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},
{
"identifiers": {
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},
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}
]
},
{
"id": "7e3a50c1-7af6-5ae8-af33-8981fc734ffe",
"identifiers": {
"doi": "10.1109/rtucon67996.2025.11415027"
},
"type": "proceedings-article",
"title": "Robust IDA-PBC Control Design for Grid-Forming Converter",
"authors": [
{
"given": "Shafquat",
"family": "Hussain",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "University of Genova,Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture (DITEN),Genova,Italy"
}
]
}
},
{
"given": "Massimiliano",
"family": "Passalacqua",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "University of Genova,Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture (DITEN),Genova,Italy"
}
]
}
},
{
"given": "Luis",
"family": "Vaccaro",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "University of Genova,Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture (DITEN),Genova,Italy"
}
]
}
},
{
"given": "Mohammed Ali",
"family": "Khan",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Institute of Mechanical and Electrical Engineering University of Southern Denmark,Sønderborg,Denmark"
}
]
}
},
{
"given": "Navid",
"family": "Bayati",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Institute of Mechanical and Electrical Engineering University of Southern Denmark,Sønderborg,Denmark"
}
]
}
}
],
"abstract": "The dynamic performance of the controllers is crucial in obtaining stability for the power system. This paper proposes a robust interconnection and damping assignment-based passivity controller design using a port-controlled Hamiltonian model with effective dynamic performance, tracking, and power quality compared to a classical controller. Classical control is combined with modern control to compute the required damping resistances of the interconnection and the damping assignmentbased passivity controller to enhance the system stability and robustness. The controller is implemented on a grid-forming converter with load variations, and the system is tested in MATLAB Simulink to validate the dynamic performance of the controller.",
"container_title": "2025 IEEE 66th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)",
"publication_year": "2025",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2026-03-05",
"permalink": "robust-ida-pbc-control-design-for-grid-forming-converter",
"references": [
{
"identifiers": {
"doi": "10.1109/tpel.2017.2785218"
},
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},
{
"identifiers": {
"doi": "10.1109/tia.2019.2936788"
},
"citation": "Peng Q, Jiang Q, Yang Y, Liu T, Wang H, Blaabjerg F (2019) On the Stability of Power Electronics-Dominated Systems: Challenges and Potential Solutions. IEEE Trans on Ind Applicat 55(6):7657–7670. https://doi.org/10.1109/tia.2019.293678"
},
{
"identifiers": {
"doi": "10.1109/ojia.2021.3074028"
},
"citation": "Rosso R, Wang X, Liserre M, Lu X, Engelken S (2021) Grid-Forming Converters: Control Approaches, Grid-Synchronization, and Future Trends—A Review. IEEE Open J Ind Applicat 2:93–109. https://doi.org/10.1109/ojia.2021.307402"
},
{
"identifiers": {
"doi": "10.1109/pesgm48719.2022.9916676"
},
"citation": "Mittal R, Miao Z (2022) Analytical Model of A Grid-Forming Inverter. 2022 IEEE Power & Energy Society General Meeting (PESGM) 1–"
},
{
"identifiers": {
"doi": "10.1109/access.2020.3044327"
},
"citation": "Kikusato H, Ustun TS, Hashimoto J, Otani K, Nagakura T, Yoshioka Y, Maeda R, Mori K (2020) Developing Power Hardware-in-the-Loop Based Testing Environment for Volt-Var and Frequency-Watt Functions of 500 kW Photovoltaic Smart Inverter. IEEE Access 8:224135–224144. https://doi.org/10.1109/access.2020.304432"
},
{
"identifiers": {},
"citation": "Requirements for Generating Plants to be Connected in Parallel with Distribution Networks-Part 1: Connection to a LV Distribution Network-Generating Plants Up to and Including Type B. European Committee for Standardization: Brussels. (2019)"
},
{
"identifiers": {},
"citation": "Requirements for Generating Plants to be Connected in Parallel with Distribution Networks-Part 2: Connection to a MV Distribution Network-Generating Plants Up to and Including Type B. European Committee for Standardization: Brussels. (2019)"
},
{
"identifiers": {
"doi": "10.1109/jestpe.2019.2959271"
},
"citation": "Lasseter RH, Chen Z, Pattabiraman D (2020) Grid-Forming Inverters: A Critical Asset for the Power Grid. IEEE J Emerg Sel Topics Power Electron 8(2):925–935. https://doi.org/10.1109/jestpe.2019.295927"
},
{
"identifiers": {
"doi": "10.2478/pead-2023-0001"
},
"citation": "Gao X, Zhou D, Anvari-Moghaddam A, Blaabjerg F (2023) A Comparative Study of Grid-Following and Grid-Forming Control Schemes in Power Electronic-Based Power Systems. Power Electronics and Drives 8(1):1–20. https://doi.org/10.2478/pead-2023-000"
},
{
"identifiers": {
"doi": "10.1109/tpel.2021.3073589"
},
"citation": "Khan M, Haque A, Kurukuru VSB (2021) Dynamic Voltage Support for Low-Voltage Ride-Through Operation in Single-Phase Grid-Connected Photovoltaic Systems. IEEE Trans Power Electron 36(10):12102–12111. https://doi.org/10.1109/tpel.2021.307358"
},
{
"identifiers": {
"doi": "10.1016/j.prime.2025.100978"
},
"citation": "-synthesis controller for single phase grid-connected VSI. e-Prime - Advances in Electrical Engineering, Electronics and Energy 12:100978. https://doi.org/10.1016/j.prime.2025.10097"
},
{
"identifiers": {
"doi": "10.1109/jsyst.2021.3070498"
},
"citation": "LakshmiSrinivas V, Singh B, Mishra S, Xu L (2022) Harmonic Voltage Control in Distributed Generation Systems Using Optimal Switching Vector Strategy. IEEE Systems Journal 16(2):1861–1872. https://doi.org/10.1109/jsyst.2021.307049"
},
{
"identifiers": {
"doi": "10.1016/j.conengprac.2020.104364"
},
"citation": "Shen D, Lim C-C, Shi P (2020) Robust fuzzy model predictive control for energy management systems in fuel cell vehicles. Control Engineering Practice 98:104364. https://doi.org/10.1016/j.conengprac.2020.10436"
},
{
"identifiers": {
"doi": "10.1007/s43236-021-00222-y"
},
"citation": "Lei Y, Du G, Zhang Y, Li T (2021) Fixed switching frequency strategy for finite-control-set model predictive control based on cost function reconstruction. J Power Electron 21(6):853–864. https://doi.org/10.1007/s43236-021-00222-"
},
{
"identifiers": {
"doi": "10.1109/jsyst.2020.2999553"
},
"citation": "Raeispour M, Atrianfar H, Baghaee HR, Gharehpetian GB (2021) Robust Sliding Mode and Mixed $H_2$/$H_\\infty$ Output Feedback Primary Control of AC Microgrids. IEEE Systems Journal 15(2):2420–2431. https://doi.org/10.1109/jsyst.2020.299955"
},
{
"identifiers": {
"doi": "10.1109/access.2024.3396449"
},
"citation": "Ahmadian A, Sedghisigarchi K, Gadh R (2024) Empowering Dynamic Active and Reactive Power Control: A Deep Reinforcement Learning Controller for Three-Phase Grid-Connected Electric Vehicles. IEEE Access 12:66068–66084. https://doi.org/10.1109/access.2024.339644"
},
{
"identifiers": {
"doi": "10.1109/tcsii.2019.2940212"
},
"citation": "Liu L, Huang C, Mu J, Cheng J, Zhu Z (2020) A P&O MPPT With a Novel Analog Power-Detector for WSNs Applications. IEEE Trans Circuits Syst II 67(10):1680–1684. https://doi.org/10.1109/tcsii.2019.294021"
},
{
"identifiers": {
"doi": "10.1016/j.est.2022.104217"
},
"citation": "Bakeer A, Chub A, Shen Y, Sangwongwanich A (2022) Reliability analysis of battery energy storage system for various stationary applications. Journal of Energy Storage 50:104217. https://doi.org/10.1016/j.est.2022.10421"
},
{
"identifiers": {
"doi": "10.1080/00207217.2016.1191087"
},
"citation": "Serra FM, De Angelo CH, Forchetti DG (2016) IDA-PBC control of a DC–AC converter for sinusoidal three-phase voltage generation. International Journal of Electronics 104(1):93–110. https://doi.org/10.1080/00207217.2016.119108"
},
{
"identifiers": {
"doi": "10.1109/jestpe.2020.3034464"
},
"citation": "Khefifi N, Houari A, Machmoum M, Saim A, Ghanes M (2021) Generalized IDA-PBC Control Using Enhanced Decoupled Power Sharing for Parallel Distributed Generators in Standalone Microgrids. IEEE J Emerg Sel Topics Power Electron 9(4):5069–5082. https://doi.org/10.1109/jestpe.2020.303446"
}
]
},
{
"id": "7f4a4379-fd99-570e-95de-d02154a8e8ae",
"identifiers": {
"doi": "10.1109/sefet61574.2024.10718131"
},
"type": "proceedings-article",
"title": "Modeling and Control of Single-Input, Multi-Output DC-DC Converters in Port-Controlled Hamiltonian Framework",
"authors": [
{
"given": "Sowmya",
"family": "J",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "IIT, Madras,Dept. of Electrical Engineering,Chennai,India"
}
]
}
},
{
"given": "Arunkumar D",
"family": "Mahindrakar",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "IIT, Madras,Dept. of Electrical Engineering,Chennai,India"
}
]
}
},
{
"given": "Lakshminarasamma",
"family": "N",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "IIT, Madras,Dept. of Electrical Engineering,Chennai,India"
}
]
}
}
],
"abstract": "Traditionally, Single-Input, Multi-Output (SIMO) DC-DC converters - a category of multiport converters, have been used for multiple supplies with different output levels in hybrid and electric vehicles in both their isolated and non-isolated versions. The emerging idea is to use one controllable switch to avoid synchronisation problem among switches. A key challenge lies in modeling the SIMO converters due to its differential algebraic nature and increased state-space dimension. This work proposes a port-Hamiltonian approach for modeling the SIMO converters. Controller design involves both current and voltage control of non-isolated SIMO converters in order to achieve largesignal stability and steady-state accuracy of multiple outputs. Simulations are performed on a DC-DC SEPIC-Boost converter to compare the time-domain and the frequency-domain responses of the states in the proposed model w.r.t. the actual circuit model. The response of the converter to large variations in the load is also simulated.",
"container_title": "2024 IEEE 4th International Conference on Sustainable Energy and Future Electric Transportation (SEFET)",
"publication_year": "2024",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2024-10-24",
"permalink": "modeling-and-control-of-single-input-multi-output-dc-dc-converters-in-port-controlled-hamiltonian-framework",
"references": [
{
"identifiers": {
"doi": "10.1109/pesc.2008.4592051"
},
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},
{
"identifiers": {
"doi": "10.1109/mie.2016.2550000"
},
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},
{
"identifiers": {
"doi": "10.1561/2600000002"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(98)00196-4"
},
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},
{
"identifiers": {
"doi": "10.1109/iecon.2017.8216837"
},
"citation": "Becerra, G., Meghnous, A. R., Pham, M. T., Lin-Shi, X. & Patino, D. A unified hybrid control for DC/DC power converters using port-Hamiltonian formulation. IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society 4851–4856 (2017) doi:10.1109/iecon.2017.8216837"
},
{
"identifiers": {
"doi": "10.1109/ieecon53204.2022.9741575"
},
"citation": "Buaket, W. & Pongyart, W. A port-Hamiltonian Approach in Current Controller Design for Buck Boost Converter. 2022 International Electrical Engineering Congress (iEECON) 1–4 (2022) doi:10.1109/ieecon53204.2022.9741575"
},
{
"identifiers": {
"doi": "10.1109/jestpe.2020.3010895"
},
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"citation": "Fujimoto, K. & Scherpen, J. M. A. Time-varying output feedback stabilization of a class of nonholonomic Hamiltonian systems via canonical transformations. Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) vol. 3 2928–2933"
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"doi": "10.1109/cdc.2001.980360"
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"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems and its application to a magnetic levitation system. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) 3388–3393 doi:10.1109/cdc.2001.980360"
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"citation": "Fujimoto, K. & Sugie, T. Stabilization of Hamiltonian systems with nonholonomic constraints based on time-varying generalized canonical transformations. Systems & Control Letters 44, 309–319 (2001)"
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"citation": "Fujimoto, K. & Sugie, T. Canonical transformation and stabilization of generalized Hamiltonian systems. Systems & Control Letters 42, 217–227 (2001)"
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"citation": "Astolfi, A. & Schaufelberger, W. State and output feedback stabilization of multiple chained systems with discontinuous control. Proceedings of 35th IEEE Conference on Decision and Control vol. 2 1443–1448"
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"abstract": "In this paper we design a robust passivity-based controller for a continuum robot manipulator using the port-Hamiltonian framework. The control design is tailored to the Bionic Handling Assistant, a continuum mechanic robot developed by the Festo AG. As in many real-world applications, the control design for the BHA system requires to address non-linearities and robustness issues. In this work, we aim to provide a constructive robust control design for the BHA system, which can be readily adapted to similar continuum robotic manipulators. We develop a controller with an integral action to enhance the robustness of the control system and to compensate for disturbances.",
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"doi": "10.1007/978-1-4471-0507-7"
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"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
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"doi": "10.1109/tmech.2016.2605820"
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"citation": "Falkenhahn, V., Hildebrandt, A., Neumann, R. & Sawodny, O. Dynamic Control of the Bionic Handling Assistant. IEEE/ASME Transactions on Mechatronics vol. 22 6–17 (2017)"
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"doi": "10.1007/978-3-319-51298-3_7"
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"citation": "Ortega, R., Donaire, A. & Romero, J. G. Passivity-Based Control of Mechanical Systems. Lecture Notes in Control and Information Sciences 167–199 (2017) doi:10.1007/978-3-319-51298-3_7"
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"citation": "Viola, G., Ortega, R., Banavar, R., Acosta, J. A. & Astolfi, A. Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes. IEEE Transactions on Automatic Control vol. 52 1093–1099 (2007)"
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"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002)"
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"citation": "lanczos, The Variational Principles of Mechanics (2012)"
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"citation": "Falkenhahn, V., Mahl, T., Hildebrandt, A., Neumann, R. & Sawodny, O. Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler–Lagrange Formalism. IEEE Transactions on Robotics vol. 31 1483–1496 (2015)"
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"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control vol. 10 432–450 (2004)"
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"citation": "falkenhahn, Modellierung und modellbasierte regelung von kontinuum-manipulatoren (2017)"
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"title": "Fault detection and estimation based on full order unknown input Hamiltonian observers",
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"given": "Manel",
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"abstract": "This paper deals with a novel diagnosis framework for robust fault detection and estimation purposes by combining an ordinary Unknown Input Observer (UIO) with the port-Hamiltonian formalism. Based on energy aspect, the full order Unknown Input Hamiltonian Observer (UIHO) design scheme guarantees robust residual generation through decoupling the disturbances effects from the fault ones. The fault estimation is, then, allowed by an algebraic transformation taking into account co-energy variables. Finally, simulation tests on ladder networks illustrate the effectiveness of the theoretical development.",
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{
"identifiers": {},
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{
"identifiers": {},
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{
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},
"citation": "Chen, J. & Patton, R. J. Robust Model-Based Fault Diagnosis for Dynamic Systems. The International Series on Asian Studies in Computer and Information Science (Springer US, 1999). doi:10.1007/978-1-4615-5149-2"
},
{
"identifiers": {},
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},
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"citation": "van der schaft, L2-Gain and Passivity in Nonlinear Control Springer-Verlag New York (1999)"
},
{
"identifiers": {},
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},
{
"identifiers": {},
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{
"identifiers": {},
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},
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},
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"identifiers": {},
"citation": "polyuga, Structure preserving port-Hamiltonian model reduction of electrical circuits Model Reduction for Circuit Simulation Springer (2011)"
},
{
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"citation": "ortega, Stabilization of port-controlled Hamiltonian systems via energy balancing Springer (1999)"
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{
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"citation": "maschke, An intrinsic Hamiltonian formulation of the dynamics of LC-circuits IEEE Transactions on Circuits and Systems I Fundamental Theory and Applications IEEE (1995)"
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"citation": "Ramirez, H., Maschke, B. & Sbarbaro, D. On the Hamiltonian formulation of the CSTR. 49th IEEE Conference on Decision and Control (CDC) 3301–3306 (2010) doi:10.1109/cdc.2010.5717317"
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"citation": "(2007)"
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"citation": "secchi, Control of interactive robotic interfaces A port-Hamiltonian approach Springer (2007)"
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{
"identifiers": {},
"citation": "isermann, Model-based fault-detection and diagnosis-status and applications Annual Reviews in control Elsevier (2005)"
},
{
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"citation": "blanke, Diagnosis and Fault-Tolerant Control Springer-Verlag (2006)"
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"citation": "van der schaft, L2-Gain and Passivity in Nonlinear Control Springer-Verlag New York (1999)"
},
{
"identifiers": {},
"citation": "polyuga, Structure preserving model reduction of port-Hamiltonian systems by moment matching at infinity Automatica Elsevier (2010)"
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"title": "Stabilization of the Inertia Wheel Inverted Pendulum by Advanced IDA-PBC Based Controllers: Comparative Study and Real-Time Experiments",
"authors": [
{
"given": "Afef",
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"given": "Ahmed",
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"abstract": "Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) is a popular control scheme, for the stabilization of underactuated mechanical systems, formulated in Port-Controlled Hamiltonian (PCH) structure. However, robustness enhancement of this control approach towards external disturbances remains an challenging and an open problem. In this paper, an experimental comparative study between two different IDA-PBC approaches is proposed. The first controller is a nonlinear Proportional Integral IDA-PBC, while the second one is a model reference adaptive IDA - PBC. To evaluate the effectiveness of both controllers, various real-time experimental scenarios have been conducted for the stabilization of the inertia wheel inverted pendulum. For the sake of a fair comparison, different performance-evaluation criteria have been proposed to quantify the control performance in terms of convergence and energy consumption. The results show a better performance of the nonlinear Proportional Integral IDA - PBC controller compared to the model reference adaptive IDA - PBC controller.",
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"issue": "",
"pages": "753--760",
"publisher": "IEEE",
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"references": [
{
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"identifiers": {
"doi": "10.1109/iros.2008.4650994"
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"citation": "Andary, S., Chemori, A. & Krut, S. Stable limit cycle generation for underactuated mechanical systems, application: Inertia wheel inverted pendulum. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems 526–531 (2008) doi:10.1109/iros.2008.4650994"
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"citation": "Gritli, H., Khraief, N., Chemori, A. & Belghith, S. Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC. Nonlinear Dyn 89, 2195–2226 (2017)"
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"doi": "10.1016/j.jprocont.2008.06.018"
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"citation": "Ramírez, H., Sbarbaro, D. & Ortega, R. On the control of non-linear processes: An IDA–PBC approach. Journal of Process Control 19, 405–414 (2009)"
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"doi": "10.1016/j.ifacol.2015.10.237"
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"citation": "Aoues, S., Matignon, D. & Alazard, D. Control of a flexible spacecraft using discrete IDA-PBC design. IFAC-PapersOnLine 48, 188–193 (2015)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.451-468"
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{
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{
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"doi": "10.1109/cdc.2013.6760713"
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},
{
"identifiers": {
"doi": "10.1109/cdc.2005.1583500"
},
"citation": "Santibanez, V., Kelly, R. & Sandoval, J. Control of the Inertia Wheel Pendulum by Bounded Torques. Proceedings of the 44th IEEE Conference on Decision and Control 8266–8270 doi:10.1109/cdc.2005.1583500"
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{
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{
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{
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{
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{
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},
{
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{
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{
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},
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},
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"abstract": "In the present paper, an alternative causal graph-based fault detection scheme is designed. The Hamiltonian Bond Graph (HBG), as a graphical model combining the Bond Graph (BG) and the Port Hamiltonian (PH) formalisms for characterizing power interactions between submodels, is involved herein in modeling and fault detection of multi-energies systems taking into account of energy concepts. Owing to energetic and structural aspects, the generic model is competent to deduct immediately the energetic redundancy relations by covering the causal energetic paths. The performances of the suggested scheme is proved by the simulation results on the DC motor.",
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"abstract": "In the present paper, an alternative causal graph based fault detection scheme is designed. The quantitative reasoning is based on the hamiltonian bond graph (HBG), as a graphical model combining the bond graph (BG) and the port hamiltonian (PH) formalisms for characterizing power interactions between submodels, is involved herein in modeling and fault detection of systems. The qualitative reasoning, we capture the qualitative effects of faults on the measurements using the directed behavioral hypergraph (DBH) derived automatically from (HBG) model. And then we compare and discuss the approche qualitative and quantitative, to demonstrate their diagnostic ability for the physical system.",
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{
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{
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{
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"doi": "10.1109/sta.2014.7086690"
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"title": "The PBC technical to control the induction motor",
"authors": [
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"given": "K.",
"family": "Baazouzi",
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"abstract": "The major problem of controlling a multi-variable electrical system comes mainly from the lack of information on its structure, which was supposed to always linear, a change in unexpected state may cause system instability, hence the requirement development of a new control structure incorporating nonlinear effects and time-varying phenomena while respecting the desired specifications on their stabilities. A new control scheme for speed induction motors is proposed in the present paper, called \"passivity based control (PBC) on the principle of exchange control energy via state feedback was presented it allows to work in several areas. A port-controlled Hamiltonian (PCH) model of the induction motor is deduced to make the interconnection and damping of energy explicit on the scheme. The proposed controller is validated under computational simulations MATLAB.",
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"pages": "7--10",
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"container_title": "IEEE Transactions on Automatic Control",
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"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
"event": "",
"keywords": [],
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"type": "journal-article",
"title": "Control by interconnection of mixed port Hamiltonian systems",
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{
"given": "A.",
"family": "Macchelli",
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"abstract": "In this note, the regulation problem for mixed finite and infinite dimensional port Hamiltonian systems (m-pH systems) is discussed. A m-pH system results from the power conserving interconnection of finite and infinite dimensional systems in port Hamiltonian form. In particular, the system given by the interconnection of two finite dimensional systems, one of which is the controller, by means of an infinite dimensional connection is studied. The proposed control methodology is a generalization to the infinite dimensional case of a well-established passivity-based control technique for finite-dimensional port Hamiltonian systems, the control by interconnection and energy shaping, according to which the open-loop energy function is shaped so that a minimum in the desired configuration is introduced. This procedure is possible once the state variable of the controller is related to the state variable of the plant by constraining the state of the closed-loop system on a structural invariant (defined by a set of Casimir functions). In this way, the energy function of the controller, which is freely assignable, becomes a function of the configuration of the plant and, then, it can be easily shaped in order to solve the regulation problem.",
"container_title": "IEEE Transactions on Automatic Control",
"publication_year": "2005",
"volume": "50",
"issue": "11",
"pages": "1839--1844",
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{
"identifiers": {},
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{
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},
{
"identifiers": {
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},
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{
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{
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"identifiers": {
"doi": "10.1109/tac.2008.2006930"
},
"type": "journal-article",
"title": "Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems",
"authors": [
{
"given": "Romeo",
"family": "Ortega",
"literal": null,
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{
"given": "Arjan",
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"abstract": "The dynamics of many physical processes can be suitably described by Port-Hamiltonian (PH) models, where the importance of the energy function, the interconnection pattern and the dissipation of the system is underscored. To regulate the behavior of PH systems it is natural to adopt a Passivity-Based Control (PBC) perspective, where the control objectives are achieved shaping the energy function and adding dissipation. In this paper we consider the PBC techniques of Control by Interconnection (CbI) and Standard PBC. In CbI the controller is another PH system connected to the plant (through a power-preserving interconnection) to add up their energy functions, while in Standard PBC energy shaping is achieved via static state feedback. In spite of the conceptual appeal of formulating the control problem as the interaction of dynamical systems, the current version of CbI imposes a severe restriction on the plant dissipation structure that stymies its practical application. On the other hand, Standard PBC, which is usually derived from a uninspiring and non-intuitive ldquopassive output generationrdquo viewpoint, is one of the most successful controller design techniques. The main objectives of this paper are: (1) To extend the CbI method to make it more widely applicable-in particular, to overcome the aforementioned dissipation obstacle. (2) To show that various popular variants of Standard PBC can be derived proceeding from a unified perspective. (3) To establish the connections between CbI and Standard PBC proving that the latter is obtained restricting the former to a suitable subset-providing a nice geometric interpretation to Standard PBC-and comparing the size of the set of PH plants for which they are applicable.",
"container_title": "IEEE Transactions on Automatic Control",
"publication_year": "2008",
"volume": "53",
"issue": "11",
"pages": "2527--2542",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
"event": "",
"keywords": [],
"created_date": "2009-01-05",
"permalink": "control-by-interconnection-and-standard-passivity-based-control-of-port-hamiltonian-systems",
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{
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}
]
},
{
"id": "1cd99ee1-6ef1-58da-978a-ba7c8f6945be",
"identifiers": {
"doi": "10.1109/tac.2008.2007176"
},
"type": "journal-article",
"title": "Exponential Stability of a Class of Boundary Control Systems",
"authors": [
{
"given": "Javier Andres",
"family": "Villegas",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Hans",
"family": "Zwart",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Yann",
"family": "Le Gorrec",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
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{
"given": "Bernhard",
"family": "Maschke",
"literal": null,
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],
"abstract": "We study a class of partial differential equations (with variable coefficients) on a one dimensional spatial domain with control and observation at the boundary. For this class of systems we provide simple tools to check exponential stability. This class is general enough to include models of flexible structures, traveling waves, heat exchangers, and bioreactors among others. The result is based on the use of a generating function (the energy for physical systems) and an inequality condition at the boundary. Furthermore, based on the port Hamiltonian approach, we give a constructive method to reduce this inequality to a simple matrix inequality.",
"container_title": "IEEE Transactions on Automatic Control",
"publication_year": "2009",
"volume": "54",
"issue": "1",
"pages": "142--147",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
"event": "",
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"abstract": "Structure preserving model reduction of single-input single-output port-Hamiltonian systems is considered by employing the rational Krylov methods. The rational Arnoldi method is shown to preserve (for the reduced order model) not only a specific number of the moments at an arbitrary point in the complex plane but also the port-Hamiltonian structure. Furthermore, it is shown how the rational Lanczos method applied to a subclass of port-Hamiltonian systems, characterized by an algebraic condition, preserves the port-Hamiltonian structure. In fact, for the same subclass of port-Hamiltonian systems the rational Arnoldi method and the rational Lanczos method turn out to be equivalent in the sense of producing reduced order port-Hamiltonian models with the same transfer function.",
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"given": "Daniel A.",
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"abstract": "In this technical note, an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of systems and for being included in the port-Hamiltonian framework.",
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"abstract": "We consider infinite-dimensional port-Hamiltonian systems with respect to control issues. In contrast to the well-established representation relying on Stokes-Dirac structures that are based on skew-adjoint differential operators and the use of energy variables, we employ a different port-Hamiltonian framework. Based on this system representation conditions for Casimir functionals will be derived where in this context the variational derivative plays an extraordinary role. Furthermore the coupling of finite- and infinite-dimensional systems will be analyzed in the spirit of the control by interconnection problem.",
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"volume": "58",
"issue": "7",
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"title": "Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback",
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"given": "Hector",
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"issue": "10",
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"title": "A Globally Exponentially Stable Tracking Controller for Mechanical Systems Using Position Feedback",
"authors": [
{
"given": "Jose Guadalupe",
"family": "Romero",
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"given": "Romeo",
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"abstract": "A solution to the problem of global exponential tracking of mechanical systems without velocity measurements is given in the paper. The proposed controller is obtained combining a recently reported exponentially stable immersion and invariance observer and a suitably designed state-feedback passivity-based controller, which assigns to the closed-loop a port-Hamiltonian structure with a desired energy function. The result is applicable to a large class of mechanical systems and, in particular, no assumptions are made on the presence-and exact knowledge-of friction forces.",
"container_title": "IEEE Transactions on Automatic Control",
"publication_year": "2015",
"volume": "60",
"issue": "3",
"pages": "818--823",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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{
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"given": "D. A.",
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"given": "A. J.",
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"abstract": "Many powerful tools exist for control design in the frequency domain, but are theoretically only justified for linear systems. On the other hand, nonlinear control deals with control design methodologies that are theoretically justified for a larger and more realistic class of systems, but primarily dealing with stability and to a lesser extent with performance. In this technical note a standard linear notch filter is modeled in the port-Hamiltonian (PH) framework, thereby proving that the notch filter is a passive system. The notch filter can then be interconnected with any other (nonlinear) PH system, while preserving the overall passivity property. By doing so, we can combine a frequency-based control method to improve performance, the notch filter, with the nonlinear control methodology of passivity-based control.",
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"given": "Kameswarie",
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"abstract": "The Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) problem for port-controlled Hamiltonian systems is revisited. We propose a methodology that exploits the novel notion of algebraic solution of the so-called matching equation. This notion is instrumental for the construction of an energy function, defined on an extended state-space, which does not rely upon the solution of any partial differential equation. This yields, differently from the classical solution, a dynamic state feedback that stabilizes a desired equilibrium point. In addition, conditions that allow to preserve the port-controlled Hamiltonian structure in the extended closed-loop system are provided. The theory is validated on two physical systems: the magnetic levitated ball and a third order food-chain system. A dynamic control law is constructed for both these systems by assigning a damping factor that cannot be assigned by the classical IDA-PBC.",
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"identifiers": {
"doi": "10.1109/tac.2015.2458491"
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"type": "journal-article",
"title": "Port-Hamiltonian Systems in Adaptive and Learning Control: A Survey",
"authors": [
{
"given": "Subramanya P.",
"family": "Nageshrao",
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{
"given": "Gabriel A. D.",
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"abstract": "Port-Hamiltonian (PH) theory is a novel, but well established modeling framework for nonlinear physical systems. Due to the emphasis on the physical structure and modular framework, PH modeling has become a prime focus in system theory. This has led to a considerable research interest in the control of PH systems, resulting in numerous nonlinear control techniques. General nonlinear control methodologies are classified in a spectrum from model-based to model-free, where adaptation and learning typically lie close to the end of the range. Various articles and monographs have provided a detailed overview of model-based control techniques on PH models, but no survey is specifically dedicated to the learning and adaptive control methods that can benefit from the PH structure. To this end, we provide a comprehensive review of the current learning and adaptive control methodologies that have been adapted specifically to PH systems. After establishing the required theoretical background, we elaborate on various general machine learning, iterative learning, and adaptive control techniques and their application to PH systems. For each method we highlight the changes from the general setting due to PH model, followed by a detailed presentation of the respective control algorithm. In general, the advantages of using PH models in learning and adaptive controllers are: i) Prior knowledge in the form of PH model speeds up the learning. ii) In some instances new stability or convergence guarantees are obtained by having a PH model. iii) The resulting control laws can be interpreted in the context of physical systems. We conclude the paper with notes on open research issues.",
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"volume": "61",
"issue": "5",
"pages": "1223--1238",
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"abstract": "It is a universal phenomenon that the inputs of a real stochastic process are disturbed. However, this phenomenon is often ignored when stochastic port-Hamiltonian system (SPHS) is used for modeling, in which only the disturbance on the states is considered. For this reason, an extension of SPHS, named input-disturbed SPHS (Id-SPHS), is proposed to describe the inputs disturbance as well as the states one. The definition and some properties of Id-SPHS, including structure invariance and stochastic passivity, are presented one by one to construct the basic framework of Id-SPHS. Based on this framework, a passivity-based controller is further developed to stabilize Id-SPHS at its steady state. The control strategy is demonstrated in a thermodynamic heat conduction process with the results supporting strongly the proposed Id-SPHS theory.",
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"abstract": "In this note, we address the problem of stabilization of port-Hamiltonian systems via the ubiquitous proportional-integral-derivative (PID) controller. The design is based on passivity theory, hence the first step is to identify all passive outputs of the system, which is the first contribution of the paper. Adding a PID around this signal ensures that the closed-loop system is ${\\mathcal L}_2$-stable for all positive PID gains. Global stability (and/or global attractivity) of a desired constant equilibrium is also guaranteed for a new class of systems for which a Lyapunov function can be constructed. A second contribution is to prove that this class—that is identified via some easily verifiable integrability conditions—is strictly larger than the ones previously reported in the literature. Comparisons of the proposed PID controller with control-by-interconnection passivity-based control are also discussed.",
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"abstract": "We will give general sufficient conditions under which a controller achieves robust regulation for a boundary control and observation system. Utilizing these conditions, we construct a minimal-order robust controller for an arbitrary order impedance passive linear port-Hamiltonian system. The theoretical results are illustrated with a numerical example where we implement a controller for a 1-D Euler–Bernoulli beam with boundary controls and boundary observations.",
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"abstract": "Interconnection and damping assignment passivity-based control (IDA-PBC) is a method that has been developed to (asymptotically) stabilize nonlinear systems formulated in the port-controlled Hamiltonian (PCH) structure. This method has gained increasing popularity and has been successfully applied to a wide range of dynamical systems. However, little is known about the robustness of this method in response to the effects of uncertainty which could result from disturbances, noises, and modeling errors. This paper explores the possibility of extending some energy shaping methods, taking into account the robustness aspects, with the aim of maintaining (asymptotic) stability of the system in the presence of perturbations which inevitably exist in any realistic applications. We propose constructive results on robust IDA-PBC controllers for underactuated mechanical systems that are quite commonly found in practice and have the most challenging control problems within this context. The proposed results extend some existing methods and provide a new framework that allows the implementation of integral and input-to-state stability controllers to underactuated mechanical systems. The results are applied to two physical systems: an inertia wheel pendulum and a rotary inverted pendulum that represent separable and nonseparable PCH systems, respectively.",
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"id": "216c250c-e3e0-5f0a-b4c7-39a62da73b17",
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"doi": "10.1109/tac.2018.2847904"
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"type": "journal-article",
"title": "Structure Preserving Observer Design for Port-Hamiltonian Systems",
"authors": [
{
"given": "Abolfazl",
"family": "Yaghmaei",
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"given": "Mohammad Javad",
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"abstract": "In this paper, a full-order observer design method is proposed for port-Hamiltonian systems. The proposed method is based on the notion of contractive port-Hamiltonian systems. It is the first structure preserving observer design for a broad class of input-state-output port-Hamiltonian systems. The design procedure consists of solving a matching equation, similar to the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) for controller design. The matching equation, as shown in the paper, has some closed-form solutions for general class of mechanical and electromechanical systems. As another feature of the proposed method, it is shown that the existence of solution of the corresponding matching equation for a linear port-Hamiltonian system is equivalent to the detectability property of that system. Upon these facts, the proposed method can be considered as a counterpart of IDA-PBC for observer design. Simulations for some benchmark examples, including ball and beam, magnetic levitation, and permanent magnetic synchronous motor, show the potency and applicability of the method.",
"container_title": "IEEE Transactions on Automatic Control",
"publication_year": "2019",
"volume": "64",
"issue": "3",
"pages": "1214--1220",
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"abstract": "In this paper, the locally fixed-time and globally fixed-time $\\mathcal {H}_{\\infty }$ control problems for the port-controlled Hamiltonian (PCH) systems are investigated via the interconnection and damping assignment passivity-based control (IDA-PBC) technique. Compared with finite-time stabilization, where the convergence time of the closed-loop system's states relies on the initial values, the settling time of fixed-time stabilization can be adjusted to achieve desired equilibrium point regardless of initial conditions. The concepts of fixed-time $\\mathcal {H}_{\\infty }$ control, fixed-time stability region (or region of attraction), and fixed-time stability boundary are presented in this paper, and the criterions of globally fixed-time attractivity of a prespecified locally fixed-time stability region are obtained. Combining the locally fixed-time stability of an equilibrium point and the globally fixed-time attractivity of a prespecified fixed-time stability region, the globally fixed-time $\\mathcal {H}_{\\infty }$ control problem of PCH system is effectively solved. Two novel control laws are designed to deal with the globally fixed-time $\\mathcal {H}_{\\infty }$ control problem, and the conservativeness in estimating the settling time is also briefly discussed. An illustrative example shows that the theoretical results obtained in this paper work very well in the fixed-time $\\mathcal {H}_{\\infty }$ control design for PCH systems.",
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"abstract": "In this paper, we present a method to robustify asymptotically stable nonlinear systems by adding an integral action that rejects unknown additive disturbances. The proposed approach uses a port-Hamiltonian (pH) representation of the open-loop dynamics, which, relying on the asymptotic stability property, is guaranteed to exist. The integral action controller preserves the pH structure, and, by adding a suitable cross term between the plant and the controller states to the closed-loop energy function, it avoids the unnatural coordinate transformation used in the past. The controller is shown to be robust against some common types of modeling uncertainty, including unknown friction dynamics in mechanical systems.",
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"abstract": "In this article, we present some new results for the design of PID passivity-based controllers (PBCs) for the regulation of port-Hamiltonian (pH) systems. The main contributions of this article are: (i) new algebraic conditions for the explicit solution of the partial differential equation required in this design; (ii) revealing the deleterious impact of the dissipation obstacle that limits the application of the standard PID-PBC to systems without pervasive dissipation; (iii) the proposal of a new PID-PBC which is generated by two passive outputs, one with relative degree zero and the other with relative degree one. The first output ensures that the PID-PBC is not hindered by the dissipation obstacle, while the relative degree of the second passive output allows the inclusion of a derivative term. Making the procedure more constructive and removing the requirement on the dissipation significantly extends the realm of application of PID-PBC. Moreover, allowing the possibility of adding a derivative term to the control, enhances its transient performance.",
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"abstract": "In this article, stabilization of port-Hamiltonian (pH) systems is studied in the context of shifted passivity. The pH systems, in general, are not shifted passive with respect to the given Hamiltonian and output. Therefore, we consider enforcing the property of shifted passivity by designing a state feedback, namely, shifted passivity via feedback. This introduced concept brings more insight into the stabilization of pH systems, and a set of partial differential equations is derived such that its solution specifies a state feedback achieving shifted passivity via feedback. Based on the framework of shifted passivity via feedback, a group of sufficient conditions is given such that a proposed proportional control with respect to a designed power shaping output can achieve closed-loop asymptotic stability. Some extended control design is provided to relax the required conditions.",
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"abstract": "In this article, a control framework is proposed to render a power electronic system passive by adopting the port-Hamiltonian (pH) systems theory. The system has a power electronic converter, either grid-tied or islanded. The control framework consists of a lossless interconnection block and three control channels. It makes the power converter behave as a virtual synchronous machine (VSM). The three channels are designed to, respectively, generate the frequency and the flux of the VSM and a third quantity that is necessary for forming the lossless interconnection. It is proven that the closed-loop system is passive without the need of assuming constant frequency, constant voltage, and/or constant loads. It is sufficient to only assume that the load can be described as a passive pH model. Hence, the proposed control framework is very generic.",
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"abstract": "The Second Law of thermodynamics implies that no thermodynamic system with a single heat source at constant temperature can convert heat into mechanical work in a recurrent manner. First, we note that this is equivalent to cyclo-passivity at the mechanical port of the thermodynamic system, while the temperature at the thermal port of the system is kept constant. This leads to the question, which general systems with two power ports have similar behavior: when is a system cyclo-passive at one of its ports, while the output variable at the other port (such as the temperature in the thermodynamic case) is kept constant? This property is called “one-port cyclo-passivity,” and entails, whenever it holds, a fundamental limitation to energy transfer from one port to the other. Sufficient conditions for one-port cyclo-passivity are derived for general multiphysics systems formulated in port-Hamiltonian form. This is illustrated by a variety of examples from different (multi-)physical domains; from coupled inductors and capacitor microphones to synchronous machines.",
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"abstract": "This note proposes a passivity-based control method for trajectory tracking and formation control of nonholonomic wheeled robots without velocity measurements. Coordinate transformations are used to incorporate the nonholonomic constraints, which are then avoided by controlling the front end of the robot rather than the center of the wheel axle into the differential equations. Starting from the passivity-based coordination design, the control goals are achieved via an internal controller for velocity tracking and heading control, and an external controller for formation in the port-Hamiltonian framework. This approach endows the resulting controller with a physical interpretation. To avoid unavailable velocity measurements or unreliable velocity estimations, we derive the distributed control law with only position measurements by introducing a dynamic extension. In addition, we prove that our approach is suitable not only for acyclic graphs but also for a class of nonacyclic graphs, namely, ring graphs. Simulations are provided to illustrate the effectiveness of the approach.",
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"abstract": "A control system is called self-powered if the only energy it requires for operation is that which it absorbs from the plant. For a linear feedback law to be feasible for a self-powered control system, its feedback signal must be colocated with the control inputs, and its input–output mapping must satisfy an associated passivity constraint. The imposition of such a feedback law can be viewed equivalently as the imposition of a linear passive shunt admittance at the actuation ports of the plant. In this article, we consider the use of actively-controlled electronics to impose a self-powered linear feedback law. To be feasible, it is insufficient that the imposed admittance be passive, because parasitic losses must additionally be overcome. We derive sufficient feasibility conditions, which explicitly account for these losses. In the finite-dimensional, time-invariant case, the feasibility condition distills to a more conservative version of the positive-real lemma, which is parametrized by various loss parameters. Three examples are given, in which this condition is used to determine the least-efficient loss parameters necessary to realize a desired feedback law.",
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"title": "On Contractive Port-Hamiltonian Systems With State-Modulated Interconnection and Damping Matrices",
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"abstract": "In this article, for the input-state-output class of port-Hamiltonian systems, the contraction property is characterized. Recently, some results on contraction of port-Hamiltonian systems with constant interconnection and damping matrices have been published. This article extends these results for state-modulated interconnection and damping matrices. In this regard, the powerful method of interconnection and damping assignment passivity-based control is extended for tracking designs. Controller design for underactuated mechanical systems with nonconstant mass matrices usually leads to nonconstant (state-modulated) interconnection and damping matrices for the closed-loop system. Therefore, the result of this article can be used for tracking controller design for underactuated mechanical systems. To show the potency of proposed results, a tracking controller for cart–pole system is designed and simulated.",
"container_title": "IEEE Transactions on Automatic Control",
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"title": "A Lyapunov Approach for the Exponential Stability of a Damped Timoshenko Beam",
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"abstract": "In this technical note, we consider the stability properties of a viscously damped Timoshenko beam equations with spatially varying parameters. With the help of the port-Hamiltonian framework, we first prove the existence of solutions and show, by the use of an appropriate Lyapunov function, that the system is exponentially stable and has an explicit decay rate. The explicit exponential bound is computed for an illustrative example for which we provide some numerical simulations.",
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"title": "Dirac Structures for a Class of Port-Hamiltonian Systems in Discrete Time",
"authors": [
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"given": "Alessio",
"family": "Moreschini",
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"abstract": "This article discusses the Dirac structure and the state-space representation of a class of port-Hamiltonian systems that evolve in discrete time. The characterization of the underlying Dirac structure depends on separating the stored energy associated with the system into two distinct components. Moreover, it is shown that power-preserving interconnection and negative output feedback maintain the port-Hamiltonian structure while increasing the dimension of the Dirac structure. Finally, the proposed approach is illustrated by means of an approximated gravity pendulum model.",
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"abstract": "Thirty years after the introduction of port-Hamiltonian systems, interest in this system class still remains high among systems and control researchers. Very recently, Jacob and Laasri obtained strong results on the solvability and well-posedness of time-varying linear port-Hamiltonian systems with boundary control and boundary observation. In this article, we complement their results by discussing the solvability of linear, infinite-dimensional time-varying port-Hamiltonian systems not necessarily of boundary control type. The theory is illustrated on a system with a delay component in the state dynamics.",
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"doi": "10.1016/s1474-6670(17)52308-3"
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"citation": "Maschke, B. M. & van der Schaft, A. J. Port-Controlled Hamiltonian Systems: Modelling Origins and Systemtheoretic Properties. IFAC Proceedings Volumes vol. 25 359–365 (1992)"
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"citation": "Jacob, B. & Laasri, H. Well-posedness of infinite-dimensional non-autonomous passive boundary control systems. Evolution Equations & Control Theory vol. 10 385–409 (2021)"
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"citation": "Staffans, O. J. Passive and Conservative Infinite-Dimensional Impedance and Scattering Systems (From a Personal Point of View). The IMA Volumes in Mathematics and its Applications 375–413 (2003) doi:10.1007/978-0-387-21696-6_14"
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"given": "Naoki",
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"abstract": "In this work, we propose a new passivity-based sliding mode control (PBSMC) method for mechanical port-Hamiltonian systems. PBSMC is unification of sliding mode control and passivity-based control. It achieves sliding mode control and Lyapunov stability simultaneously by employing an energy-based Lyapunov function. The proposed method gives a family of stabilizing controllers that smoothly interpolates passivity-based control and sliding mode control with design parameters. The freedom is useful to adjust the tradeoff between robustness against external disturbances and undesired chattering vibration. In addition, this article relaxes the restrictive condition, which is required in the authors' former result. As a result, we can apply the proposed PBSMC method to trajectory tracking control problems. Furthermore, the robustness of the proposed controller against matched and unmatched disturbances is investigated. Numerical examples demonstrate the effectiveness of the proposed method.",
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{
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"abstract": "The framework of port-Hamiltonian (pH) systems is a powerful and broadly applicable modeling paradigm. In this article, we extend the scope of pH systems to time-delay systems. Our definition of a delay pH system is motivated by investigating the Kalman–Yakubovich–Popov inequality on the corresponding infinite-dimensional operator equation. Moreover, we show that delay pH systems are passive and closed under interconnection. We describe an explicit way to construct a Lyapunov–Krasovskii functional and discuss implications for delayed feedback.",
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"abstract": "Passive systems are characterized by their inability to generate energy internally, providing a powerful tool for modeling physical phenomena. In addition, algebraically encoding passivity in the system description can be advantageous. For this, port-Hamiltonian systems are a prominent approach. Another possibility is writing the system in suitable coordinates. In this article, we investigate the equivalence between passivity and the feasibility of passivity encoding representations, thereby elaborating upon existing results for port-Hamiltonian systems. Based on our findings, we present a method to construct port-Hamiltonian representations of a passive system if the dynamics and the Hamiltonian are known.",
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"abstract": "In this article, we present a distributed control system design for the consensus of nonlinear multiagent systems subject to non-ideal communication channels and external disturbances. The agents are modeled as a class of perturbed port-Hamiltonian systems—a formalism to model complex physical and engineering systems—and the imperfection in the communication channels is represented by time-delays that are assumed to be bounded. We show that the proposed distributed controller ensures global asymptomatic convergence of the agents to a consensus equilibrium, despite external disturbances and time-delays. We also extend the results to Euler–Lagrange agents as a corollary of our main result. Simulation results, for a network of five, 2-degrees-of-freedom robotic manipulators show the performance of our proposed control design.",
"container_title": "IEEE Transactions on Automatic Control",
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"volume": "70",
"issue": "12",
"pages": "8470--8477",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"abstract": "The control of large-scale cyber-physical systems requires optimal distributed policies relying solely on limited communication with neighboring agents. However, computing stabilizing controllers for nonlinear systems while optimizing complex costs remains a significant challenge. Neural networks (NNs), known for their expressivity, can be leveraged to parameterize control policies that yield good performance. However, NNs' sensitivity to small input changes poses a risk of destabilizing the closed-loop system. Many existing approaches enforce constraints on the controllers' parameter space to guarantee closed-loop stability, leading to computationally expensive optimization procedures. To address these problems, we leverage the framework of port-Hamiltonian systems to design continuous-time distributed control policies for nonlinear systems that guarantee closed-loop stability and finite $\\mathcal {L}_{2}$ or incremental $\\mathcal {L}_{2}$ gains, independent of the optimization parameters of the controllers. This eliminates the need to constrain parameters during optimization, allowing the use of standard techniques such as gradient-based methods. In addition, we discuss discretization schemes that preserve the dissipation properties of these controllers for implementation on embedded systems. The effectiveness of the proposed distributed controllers is demonstrated through consensus control of nonholonomic mobile robots subject to collision avoidance and averaged voltage regulation with weighted power sharing in islanded DC microgrids.",
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"abstract": "The ondes Martenot is a classic electronic musical instrument based on heterodyning processing. This article proposes a power-balanced simulation of its circuit, in order to synthesize the sound it produces. To this end, the proposed approach consists in formulating the circuit as a Port-Hamiltonian System, for which power-balanced numerical methods are available. Observations on numerical experiments based upon this formulation allow simplifications of the circuit in order to achieve real-time computation in home-studio conditions.",
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"type": "proceedings-article",
"title": "Interconnection and damping assignment passivity-based control of semi-active and active battery/supercapacitor hybrid energy storage systems for stand-alone photovoltaic installations",
"authors": [
{
"given": "Ihor",
"family": "Shchur",
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"abstract": "In stand-alone photovoltaic (PV) power supply systems, due to daily and weather solar irradiation variability, special devices are used for energy storage, most often batteries. In order to remove stress from batteries during sudden load change, it is advisable to use hybrid energy storage systems (HESS), by adding a supercapacitor module to the battery. In this work, two battery/supercapacitor HESS configurations are investigated — active with two DC-DC converters and semi-active with one DC-DC convertor. Both HESSs are represented as port-controlled Hamiltonian systems, and the synthesis of energy-shaping control systems (ESCS) is carried out using the IDA-PBC method. As a result of the synthesis three structures of ESCSs were obtained. The conducted simulation studies in the Matlab/Simulink environment allowed us to justify the appropriate structures of the ESCSs for each of the HESSs configurations and showed that both systems satisfactorily fulfill management strategy. As a simpler and cheaper, the semi-active battery/supercapacitor HESS can be recommended for use in stand-alone PV installations.",
"container_title": "2018 14th International Conference on Advanced Trends in Radioelecrtronics, Telecommunications and Computer Engineering (TCSET)",
"publication_year": "2018",
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"issue": "",
"pages": "324--329",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2018-05-04",
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"id": "3a016768-3bd4-5fba-baec-97f389501bcf",
"identifiers": {
"doi": "10.1109/tcsi.2013.2295953"
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"type": "journal-article",
"title": "Conditions for Existence of Equilibria of Systems With Constant Power Loads",
"authors": [
{
"given": "Santiago",
"family": "Sanchez",
"literal": null,
"source_fields": {
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{
"given": "Romeo",
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{
"given": "Robert",
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"given": "Gilbert",
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"abstract": "In this paper we investigate the sine qua non condition of existence of equilibria for electrical systems with external (AC or DC) sources furnishing constant power to the loads, which is a scenario encountered in modern applications. Two general cases are considered, when the system is i) linear time-invariant or ii) nonlinear, with dynamic behavior described by a port-Hamiltonian model with constant dissipation and switching interconnection matrix. The latter class includes the practically important case of power converters. For both cases necessary and sufficient conditions for existence of equilibria are given, which give an upper bound on the power dissipated in steady-state that should exceed the extracted constant power. The existence of the equilibrium is ensured if and only if the inequality is satisfied.",
"container_title": "IEEE Transactions on Circuits and Systems I: Regular Papers",
"publication_year": "2014",
"volume": "61",
"issue": "7",
"pages": "2204--2211",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"abstract": "This paper deals with the frequency design of lossless passive electronic filters under magnitude constraints. With the huge increase in design complexity for mobile applications, new systematic and efficient methods are required. This paper focuses on the direct synthesis approach, an historical design approach that has not been recently updated. It consists in directly synthesizing the $LC$ values of a pre-specified circuit until the spectral mask is satisfied. While beneficial in practice, this approach typically leads to an important computational time and requires an initial guess to reduce it. Based on recent developments of the System and Control community, that led to efficient methods for system design, the direct synthesis approach is revisited. To achieve this, the port-Hamiltonian Differential Algebraic Equation (pHDAE) representation, that particularly fits the design problem, is introduced. A synthesis method is then developed, leading to solve an optimization problem of moderate complexity. For particular cases, this complexity happens to be remarkably low. Based on this observation, a second method reveals how to obtain such complexity for the more general case, using an original combination between the pHDAE and the LFT representations. Finally, a numerical example shows the validity and illustrates the benefits of this work.",
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"abstract": "This express brief presents a nonlinear active and reactive power control for a superconducting magnetic energy storage (SMES) system connected in three-phase distribution networks using pulse-width modulated current-source converter (PWM-CSC). The passivity-based control (PBC) theory is selected as a nonlinear control technique, since the open-loop dynamical model exhibits a port-Hamiltonian (pH) structure. The PBC theory exploits the pH structure of the open-loop dynamical system to design a general control law, which preserves the passive structure in closed-loop via interconnection and damping reassignment. Additionally, the PBC theory guarantees globally asymptotically stability in the sense of Lyapunov for the closed-loop dynamical system. Simulation results in a three-phase radial distribution network show the possibility to control the active and reactive power independently as well as the possibility to use the SMES system connected through a PWM-CSC as a dynamic power factor compensator for time-varying loads. All simulations are conducted in a MATLAB/ODE package.",
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"abstract": "Based on the Riemannian modified Fletcher–Reeves conjugate gradient scheme, we propose a new model order reduction algorithm to reduce port-Hamiltonian (PH) systems by the two-sided projection. Making full use of the geometric notions and geometrical characteristics of the Stiefel manifold, the proposed algorithm is not only computationally efficient, but also globally convergent. Additionally, it can preserve the PH structure and the passivity of the original system. A numerical example is simulated to demonstrate the efficiency of our algorithm.",
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"type": "journal-article",
"title": "Model Order Reduction of RLC Circuit System Modeled by Port-Hamiltonian Structure",
"authors": [
{
"given": "Yao",
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"name": "School of Mathematics and Statistics, Xi’an Jiaotong University, Xi’an, Shaanxi, China"
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"abstract": "In this brief, we consider the port-Hamiltonian (PH) modeling of general RLC circuits, then explore the model order reduction (MOR) of corresponding port-Hamiltonian differential algebra equation (PH-DAE) systems. Specifically, by directed graphs, the general RLC circuits are firstly modeled as PH-DAE systems which imply the important passivity property. Based on $\\varepsilon $ -embedding and parametric moment matching techniques, MOR is implemented to the PH-DAE system, and the corresponding reduced system preserves PH-DAE structure and then preserves the passivity property. In addition, we prove that the reduced parametric PH system obtained by only one-side projection can preserve three times moments which indicates better accuracy in theory, and the error estimation between PH-DAE system and parametric PH system is also provided.",
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"issue": "3",
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"type": "journal-article",
"title": "Adaptive Energy-Based Control for Buck Converter With a Class of Nonlinear Loads",
"authors": [
{
"given": "Wei",
"family": "He",
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"affiliation": [
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"name": "School of Automation, Nanjing University of Information Science and Technology, Nanjing, China"
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"name": "Department of Electrical Engineering, University of Isfahan, Isfahan, Iran"
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"name": "Center for Research on Microgrids, AAU Energy, Aalborg University, Aalborg East, Denmark"
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"abstract": "In this brief, the problem of voltage regulation of buck converter with a class of nonlinear loads is addressed by using an adaptive energy-based controller. It is noted that the existing results mainly cope with converters feeding one or several nonlinear loads. Other types of loads do exist in power systems. Therefore, based on the passivity theory and a coordinate transformation, this brief proposes a new energy-based controller to stabilize buck converter with a class of nonlinear loads. It is ensured that the closed-loop system is a port-Hamiltonian system with exponential convergence. Then, the estimated terms generated by a designed disturbance observer are forwarded to energy-based controller to reduce the influence of the time-varying disturbances on the system. The experiment test is conducted by means of the setup of buck converter with a constant power load. The simulation and experimental results verify the effectiveness of the designed controller.",
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"publication_year": "2022",
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"issue": "12",
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"citation": "Pandey, S. K., Patil, S. L., Chaskar, U. M. & Phadke, S. B. State and Disturbance Observer-Based Integral Sliding Mode Controlled Boost DC–DC Converters. IEEE Transactions on Circuits and Systems II: Express Briefs vol. 66 1567–1571 (2019)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2017.2703835"
},
"citation": "Bazrafshan, M. & Gatsis, N. Convergence of the Z-Bus Method for Three-Phase Distribution Load-Flow with ZIP Loads. IEEE Transactions on Power Systems vol. 33 153–165 (2018)"
},
{
"identifiers": {},
"citation": "sepulchre, Constructive Nonlinear Control (2012)"
},
{
"identifiers": {
"doi": "10.1109/lcsys.2020.3007222"
},
"citation": "Ferguson, J., Cucuzzella, M. & Scherpen, J. M. A. Exponential Stability and Local ISS for DC Networks. IEEE Control Systems Letters vol. 5 893–898 (2021)"
}
]
},
{
"id": "eb211e10-d3dd-5484-9291-d03389baf164",
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"doi": "10.1109/tcsii.2022.3224248"
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"type": "journal-article",
"title": "Direct Power Control of a Shunt Active Power Filter Using a Modified IDA–PBC Approach With Integral Action",
"authors": [
{
"given": "Federico M.",
"family": "Serra",
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{
"name": "Department of Engineering and the Automatic Control Laboratory, Facultad de Ingeniería y Ciencias Agropecuarias, Universidad Nacional de San Luis and CONICET, San Luis, Argentina"
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}
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{
"given": "Cristian H.",
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"name": "Grupo de Electrónica Aplicada, IITEMA, Universidad Nacional de Rio Cuarto and CONICET, Cordoba, Argentina"
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"abstract": "A direct power based controller designed using a modified interconnection and damping assignment passivity-based control (IDA-PBC) with integral action is proposed in this brief for a shunt active power filter (SAPF). A power based model of the SAPF is proposed and it is described as a port-Hamiltonian model. Then, an extended port Hamiltonian system is proposed including an integral action to compensate for parameter errors and unmodeled uncertainties. From this model, a complete matching equation for the extended system is proposed, and a modified IDA-PBC with integral action is employed to design a power-based controller for a SAPF.",
"container_title": "IEEE Transactions on Circuits and Systems II: Express Briefs",
"publication_year": "2023",
"volume": "70",
"issue": "6",
"pages": "1991--1995",
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{
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{
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},
{
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},
{
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
"doi": "10.1002/cta.2189"
},
"citation": "Serra, F. M., De Angelo, C. H. & Forchetti, D. G. Application of the modified IDA‐PBC for shunt active power filters control. International Journal of Circuit Theory and Applications vol. 44 1717–1729 (2016)"
},
{
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"citation": "Song, Z., Tian, Y., Yan, Z. & Chen, Z. Direct Power Control for Three-Phase Two-Level Voltage-Source Rectifiers Based on Extended-State Observation. IEEE Transactions on Industrial Electronics vol. 63 4593–4603 (2016)"
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{
"identifiers": {
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{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.15598/aeee.v17i3.3415"
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"citation": "Serra, F. M., Montoya Giraldo, O. D., De Angelo, C. H. & Forchetti, D. G. On the Use of the p-q Theory for Harmonic Current Cancellation with Shunt Active Filters. Advances in Electrical and Electronic Engineering vol. 17 (2019)"
},
{
"identifiers": {
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}
]
},
{
"id": "9325d510-7966-5bcf-9750-7a55ad6c7087",
"identifiers": {
"doi": "10.1109/tcsii.2023.3299203"
},
"type": "journal-article",
"title": "On the Equivalence Between PI-PBC and IOC Designs: An Application Involving Three-Phase Front-End Converters",
"authors": [
{
"given": "Oscar Danilo",
"family": "Montoya",
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"affiliation": [
{
"name": "Grupo de Compatibilidad e Interferencia Electromagnética, Facultad de Ingeniería, Universidad Distrital Francisco José de Caldas, Bogotá, Colombia"
}
]
}
},
{
"given": "Federico M.",
"family": "Serra",
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"affiliation": [
{
"name": "Laboratorio de Control Automático, Facultad de Ingeniería y Ciencias Agropecuarias, Universidad Nacional de San Luis, CONICET, San Luis, Argentina"
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]
}
},
{
"given": "Gerardo",
"family": "Espinosa-Pérez",
"literal": null,
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"ORCID": "https://orcid.org/0000-0002-4891-2020",
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"affiliation": [
{
"name": "Facultad de Ingeniería, Universidad Nacional Autónoma de México, Coyoacán, Mexico"
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"abstract": "This brief addressed the control design problem for a bilinear dynamical system with two approaches. The first approach is proportional-integral passivity-based control theory (PI-PBC), and the second control approach is based on inverse optimal control theory plus integral gain (IOC+I). PI-PBC theory is a well-known control design methodology for dealing with state variable regulation in dynamical systems that exhibit a port-Hamiltonian structure, with the main characteristic that a PI controller is designed by preserving the Hamiltonian properties in a closed loop while ensuring asymptotic stability. IOC+I allows for the design of feedback nonlinear controllers for dynamical systems, which in turn allows selecting the candidate Lyapunov function and the control matrix to obtain multiple nonlinear feedback controllers, with the main advantage that all of them ensure asymptotic stability, as the resulting control laws are optimal. This brief demonstrates that a PI-PBC design and IOC+I generate the same feedback control law if and only the candidate Lyapunov function of the IOC+I design is selected as the Hamiltonian function used in the PI-PBC design. The well-known three-phase front-end converter was selected as the test control system to demonstrate the equivalence between the control laws obtained with the PI-PBC and the IOC+I approaches.",
"container_title": "IEEE Transactions on Circuits and Systems II: Express Briefs",
"publication_year": "2024",
"volume": "71",
"issue": "1",
"pages": "241--245",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"keywords": [],
"created_date": "2023-07-26",
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"references": [
{
"identifiers": {
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},
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},
{
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},
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},
{
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},
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},
{
"identifiers": {
"doi": "10.1109/tpel.2022.3200721"
},
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},
{
"identifiers": {
"doi": "10.1109/tie.2016.2625238"
},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/ropec.2014.7036320"
},
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},
{
"identifiers": {
"doi": "10.1109/cdc.2013.6760325"
},
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},
{
"identifiers": {
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},
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},
{
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},
{
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},
{
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{
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},
{
"identifiers": {
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},
"citation": "Serra, F. M., De Angelo, C. H. & Forchetti, D. G. Interconnection and damping assignment control of a three-phase front end converter. International Journal of Electrical Power & Energy Systems vol. 60 317–324 (2014)"
},
{
"identifiers": {
"doi": "10.3182/20120606-3-nl-3011.00091"
},
"citation": "Spinu, V., Dam, M. & Lazar, M. Observer design for DC/DC power converters with bilinear averaged model. IFAC Proceedings Volumes vol. 45 204–209 (2012)"
},
{
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},
{
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},
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},
{
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},
{
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}
]
},
{
"id": "7809c28b-7f6a-52ae-ab87-b42b8c051dc9",
"identifiers": {
"doi": "10.1109/tcst.2006.879979"
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"type": "journal-article",
"title": "Stabilization of time-varying Hamiltonian systems",
"authors": [
{
"given": null,
"family": "Yuqian Guo",
"literal": null,
"source_fields": {
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}
},
{
"given": null,
"family": "Daizhan Cheng",
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],
"abstract": "This paper investigates the stabilization problem of time-varying port-controlled Hamiltonian (PCH) systems through energy-shaping. First, the closed-loop form of a time-varying PCH system (with certain feedback) is embedded into an extended system. Then by restricting the extended system to its invariant Casimir manifold, the energy function (Hamiltonian) of the original PCH system could be shaped as a candidate of Lyapunov function. Then the stabilization problem is considered by using the shaped Hamiltonian function. When the system has unknown parameters, the adaptive stabilization is considered, and the above stabilization result is used to construct an adaptive stabilizer. Finally, the method developed is used to power systems with periodic disturbances",
"container_title": "IEEE Transactions on Control Systems Technology",
"publication_year": "2006",
"volume": "14",
"issue": "5",
"pages": "871--880",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
"event": "",
"keywords": [],
"created_date": "2006-08-08",
"permalink": "stabilization-of-time-varying-hamiltonian-systems",
"references": [
{
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{
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{
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{
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{
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{
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]
},
{
"id": "96347672-c9cf-5bd7-8a57-875f15c341ec",
"identifiers": {
"doi": "10.1109/tcst.2011.2163514"
},
"type": "journal-article",
"title": "Power-Based Setpoint Control: Experimental Results on a Planar Manipulator",
"authors": [
{
"given": "D. A.",
"family": "Dirksz",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "J. M. A.",
"family": "Scherpen",
"literal": null,
"source_fields": {
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"affiliation": []
}
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],
"abstract": "In the last years the power-based modeling framework, developed in the sixties to model nonlinear electrical RLC networks, has been extended for modeling and control of a larger class of physical systems. In this brief we apply power-based integral control to a planar manipulator experimental setup. An integrator is known to compensate for steady-state errors, which usually occur in real applications. Recent developments in power-based control have shown the possibility of applying integral control to globally asymptotically stabilize a nonlinear system, without losing the original structure. In contrast, the more common PI or PID controllers do not provide such global properties. Both simulation and experimental results show an improvement in transient performance compared to PID control.",
"container_title": "IEEE Transactions on Control Systems Technology",
"publication_year": "2012",
"volume": "20",
"issue": "5",
"pages": "1384--1391",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
"event": "",
"keywords": [],
"created_date": "2011-09-01",
"permalink": "power-based-setpoint-control-experimental-results-on-a-planar-manipulator",
"references": [
{
"identifiers": {
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},
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},
{
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},
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},
{
"identifiers": {
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"abstract": "In a recent paper a procedure to design globally asymptotically stabilizing linear proportional plus integral controllers for switched power converters was proposed. The construction requires the measurement of the full state of the system, which is often unavailable in practice. In this note we identify a class of converters for which an asymptotically convergent reduced order observer, preserving the aforementioned stability property of the closed-loop, can be designed. The class is characterized by a simple linear matrix inequality. The new controller is illustrated with the widely-popular, and difficult to control, single-ended primary inductor converter, for which simulation and experimental results are presented.",
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"title": "On Tracking Control of Rigid-Joint Robots With Only Position Measurements",
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"given": "Daniel A.",
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"abstract": "In this letter, we present tracking control with only position measurements for rigid-joint robots, by applying the canonical transformation theory for port-Hamiltonian systems. We show that besides giving the same results as presented in the literature for Euler-Lagrange systems, the canonical transformation theory also justifies a Coriolis matrix based on the desired velocities. Furthermore, we show how the initial conditions of the controller can be tuned in order to improve transient performance. Finally, we validate our results on a simple experimental setup.",
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"issue": "4",
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{
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{
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"given": "David",
"family": "Navarro-Alarcon",
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"abstract": "In this brief, we address the robust force regulation problem of mechanical systems in physical interaction with compliant environments. The control method that we present is entirely derived under the energy shaping framework. Note that for compliant interactions, standard energy shaping methods (i.e., potential shaping controls using static-state feedback actions) cannot guarantee asymptotic stability since they are not robust to unmodeled forces. To cope with this issue, in this brief, we integrate force sensory feedback with a robust energy shaping design. This methodology allows us to incorporate integral force controls while preserving in closed loop the port-Hamiltonian structure, something that is not possible with traditional force regulators. We discuss the practical implementation of our method and provide simple numerical algorithms to compute in real time some of its control terms. To validate our approach, we report an experimental study with an open architecture robot manipulator.",
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"publication_year": "2014",
"volume": "22",
"issue": "6",
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"abstract": "This paper presents an application of interconnection and damping assignment passivity-based control (IDA-PBC) principle to the port-controlled phasor Hamiltonian (PCPH) model of solid-state transformer (SST) (comprising of three stages, namely, ac/dc rectifier, dual active bridge converter, and dc/ac inverter). A PCPH model of SST is established for each individual stages using dynamic phasor concept. In comparison with other PBC approaches, IDA-PBC offers an additional degree of freedom to solve the partial differential equations. According to the target of the controller design at each stage, the desired equilibrium point of the system is obtained. The closed-loop system performance achieves regulation of constant output dc-bus voltage and unity input power factor. Large-signal simulation results for the full system validate the simplifications introduced to obtain the controller and verify the proposed controller. Robustness of the controller is demonstrated with 20% load disturbance and 10% input disturbance. For validation of the proposed approach and its effectiveness, hardware-in-loop simulation is carried out using Opal-RT and dSPACE simulators.",
"container_title": "IEEE Transactions on Control Systems Technology",
"publication_year": "2019",
"volume": "27",
"issue": "1",
"pages": "161--174",
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"doi": "10.1109/tcst.2017.2771244"
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"title": "Modeling and Control of a Rotating Flexible Spacecraft: A Port-Hamiltonian Approach",
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"abstract": "In this brief, we develop a mathematical model of a flexible spacecraft system composed of a hub and two symmetrical beams using the port-Hamiltonian framework. This class of system has favorable properties, such as passivity for controller synthesis and stability analysis, where the global Hamiltonian plays the role of a Lyapunov function candidate. The spacecraft model is viewed as a power-conserving interconnection between an infinite (beam) and finite (hub) dimensional system. We show that the interconnection result has a port-Hamiltonian structure and is passive. The introduction of a nonlinear feedback term, which takes into account the beam’s flexibility, is developed using the control by an interconnection approach. The closed-loop stability is proven; then, through explicitly solving the partial differential equations of the system, asymptotic stability is obtained. Finally, the experimental results are carried out to assess the validity of the proposed design methodology.",
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"volume": "27",
"issue": "1",
"pages": "355--362",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"type": "journal-article",
"title": "Port-Hamiltonian Flight Control of a Fixed-Wing Aircraft",
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"given": "Jean-Michel",
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"abstract": "This brief addresses the problem of stabilizing steady, wing level flight of a fixed-wing aircraft to a specified inertial velocity (speed, course, and climb angle). The aircraft is modeled as a port-Hamiltonian system and the passivity of this system is leveraged in devising the nonlinear control law. The aerodynamic force model in the port-Hamiltonian formulation is quite general; the static, state feedback control scheme requires only basic assumptions concerning lift, side force, and drag. Following an energy-shaping approach, the static state feedback control law is designed to leverage the open-loop system’s port-Hamiltonian structure in order to construct a control Lyapunov function. Asymptotic stability of the desired flight condition is guaranteed within a large region of attraction. Simulations comparing the proposed flight controller with dynamic inversion suggest it is more robust to uncertainty in aerodynamics.",
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"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control vol. 10 432–450 (2004)"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002)"
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"citation": "González, H., Duarte-Mermoud, M. A., Pelissier, I., Travieso-Torres, J. C. & Ortega, R. A novel induction motor control scheme using IDA-PBC. Journal of Control Theory and Applications vol. 6 59–68 (2008)"
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"doi": "10.1109/cdc.2014.7039459"
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"doi": "10.1109/icuas.2015.7152325"
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"citation": "Guerrero, M. E., Mercado, D. A., Lozano, R. & Garcia, C. D. IDA-PBC methodology for a quadrotor UAV transporting a cable-suspended payload. 2015 International Conference on Unmanned Aircraft Systems (ICUAS) 470–476 (2015) doi:10.1109/icuas.2015.7152325"
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"abstract": "Voltage and frequency control in an islanded ac microgrid (ImG) amounts to stabilizing an a priori unknown ImG equilibrium induced by loads and changes in topology. This article puts forth a unified control framework, which, while guaranteeing such stability, allows for modular ImGs interconnecting multiple subsystems, that is, dynamic $RLC$ lines, nonlinear constant impedance, current, power (ZIP) and exponential (EXP) loads, and inverter-based distributed generation units (DGUs) controlled with different types of primary controllers. The underlying idea of the framework is based on the equilibrium-independent passivity (EIP) of the ImG subsystems, which enables stability certificates of ImG equilibria without explicit knowledge of these equilibria. In order to render DGUs EIP, we propose a decentralized controller synthesis algorithm based on port-Hamiltonian systems (PHSs). We also show that EIP, being the key to stability, provides a general framework, which can embrace other solutions available in the literature. Furthermore, we provide a novel argument based on LaSalle’s theorem for proving asymptotic voltage and frequency stability. Finally, we analyze the impact of actuator saturation on the stability results by exploiting the inherent EIP properties of the PHS DGU model. Theoretical findings are backed up by realistic simulations based on the medium-voltage CIGRE benchmark network.",
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"publication_year": "2022",
"volume": "30",
"issue": "5",
"pages": "1960--1976",
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"abstract": "This article describes several approaches for tuning the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in tuning controllers that preserve the mechanical system structure in the closed loop. To this end, first, we provide tuning rules for stabilization, i.e., the rate of convergence (exponential stability) and stability margin (input-to-state stability). Then, we provide guidelines to remove the overshoot. In addition, we propose a methodology to tune the gyroscopic-related parameters. We also provide remarks on the damping phenomenon to facilitate the practical implementation of our approaches. We conclude this article with experimental results obtained from applying our tuning rules to a fully actuated and an underactuated mechanical system.",
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"abstract": "This article introduces a novel control approach for tackling the maximum power point tracking (MPPT) and output voltage regulation (VR) in photovoltaic (PV) cell systems. Leveraging the port-Hamiltonian (pH) formalism, an energy-based framework known for its physically multidomain modeling and control methodologies, our proposed control law offers promising solutions. Our control design is rooted in an interconnection damping assignment passivity-based strategy, incorporating temperature dependencies of the internal PV cell parameters. To validate the efficacy of our approach, we modeled, implemented, and calibrated a prototype system comprising a PV cell, a dc–dc buck converter, and a dc–dc boost converter that feeds a battery load. The entire setup is designed within the pH framework, ensuring a cohesive integration of energy-based control. To highlight our energy-based strategy’s reliability and performance, we evaluated it against a commercial solar charger under real solar irradiance conditions. Our experimental findings unequivocally demonstrate that the control mechanism employed by the commercial solar charger demands a significantly higher amount of energy and exhibits a premature collapse at lower power levels when compared to our proposed system and control strategy.",
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"publication_year": "2025",
"volume": "33",
"issue": "2",
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"abstract": "This article studies the 3-D dynamic rendezvous control problem for coordinated heterogeneous marine vehicles, including an uncrewed underwater vehicle (UUV) and an autonomous surface vehicle (ASV). An observer-based safety-preserving rendezvous control approach is proposed to robustly stabilize the rendezvous errors under the port-Hamiltonian (PH) framework. First, an interconnection and damping assignment passivity-based control (IDA-PBC) method is adopted to provide a basic stabilizing control framework. In this problem, both vehicles are faced with hydrodynamic model uncertainties and unknown external disturbances. Then, to preserve the rendezvous safety under uncertain dynamics, the prescribed performance control (PPC) transformation is implemented for the ascending motion to get the equivalent approaching-constrained PH system. The intuitive design procedure provided by the IDA-PBC method, along with the collision-free rendezvous safety guaranteed by the auxiliary PPC technique, reduces the controller design complexity while providing a smooth rendezvous trajectory. Besides, a structure-keeping uncertainty observer algorithm is designed and incorporated to simultaneously handle model uncertainties and environmental disturbances without destroying the interconnection structure. Under the proposed approach, the UUV-ASV rendezvous errors can be effectively stabilized with rigorous closed-loop stability analysis. Finally, both simulations and comparative experiments are conducted to demonstrate the effectiveness and advantages of the proposed approach.",
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"abstract": "The design of a passivity-based non-linear controller for a shunt active filter to be used for the compensation of the harmonic components consumed by non linear loads is presented in this paper. The main objective of this control strategy is to inject the necessary compensation current into the system so that the grid current is sinusoidal and balanced, regardless of whether the grid voltage is unbalanced and/or distorted. The reference values for the compensation currents are obtained from applying the Instantaneous Active-Reactive Power Theory. The system is represented by its port-controlled Hamiltonian model and the controller designed on the basis of interconnection and damping assignment using a method based on Lyapunov techniques. The behavior of the proposed control strategy is validated through simulation using a realistic model.",
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{
"identifiers": {
"doi": "10.1109/63.554176"
},
"citation": "Blasko, V. & Kaura, V. A new mathematical model and control of a three-phase AC-DC voltage source converter. IEEE Trans. Power Electron. 12, 116–123 (1997)"
},
{
"identifiers": {
"doi": "10.1109/induscon.2010.5739965"
},
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},
{
"identifiers": {},
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},
{
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},
{
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"citation": "Chen, Z. & Ge, L. Research on current control strategy for grid-connected inverter based on passivity based control. 2010 IEEE Energy Conversion Congress and Exposition 79–83 (2010) doi:10.1109/ecce.2010.5618071"
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{
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},
{
"identifiers": {
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{
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
"citation": "Yuliang Tang, Haisheng Yu & Zongwei Zou. Hamiltonian modeling and energy-shaping control of three-phase ac/dc voltage-source converters. 2008 IEEE International Conference on Automation and Logistics 591–595 (2008) doi:10.1109/ical.2008.4636219"
},
{
"identifiers": {},
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"doi": "10.1109/tcsi.2004.842881"
},
"citation": "Gaviria, C., Fossas, E. & Grino, R. Robust controller for a full-bridge rectifier using the IDA approach and GSSA modeling. IEEE Trans. Circuits Syst. I 52, 609–616 (2005)"
},
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"identifiers": {
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
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},
{
"identifiers": {
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"citation": "Mendez, J., Garcia, Y. & Mata, M. T. Three-Phase Power Converter Stabilization via Total Energy-Shaping. 2006 1ST IEEE Conference on Industrial Electronics and Applications 1–6 (2006) doi:10.1109/iciea.2006.257375"
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"title": "Passivity-Based Control for Hydro-Turbine Governing Systems",
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"given": "W.",
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"given": "A.",
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"abstract": "In this paper an interconnection and damping assignment passivity-based control (IDA-PBC) applied to the hydro-turbine governing systems (HTGS) is proposed to regulate the relative deviation of turbine speed in single machine infinite bus system. The passivity-based control (PBC) theory is selected because in the open-loop the HTGS has a port-Hamiltonian (pH) structure. The PBC theory takes advantage of the pH structure of the open-loop dynamical system to design a general control law, which preserves the passive structure in closedloop via interconnection and damping reassignment. Additionally, the PBC theory guarantees globally asymptotically stability in the sense of Lyapunov for the close-loop dynamical system. Time-domain simulations demonstrate the robustness and proper performance of the proposed methodology applied to the HTGS under different operative conditions.",
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"doi": "10.1016/j.ymssp.2016.09.026"
},
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},
{
"identifiers": {
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},
"citation": "Xu, T., Zhang, L., Zeng, Y. & Qian, J. Hamiltonian Model of Hydro Turbine with Sharing Common Conduit. 2012 Asia-Pacific Power and Energy Engineering Conference 1–5 (2012) doi:10.1109/appeec.2012.6307009"
},
{
"identifiers": {
"doi": "10.1007/s11071-014-1257-9"
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},
{
"identifiers": {
"doi": "10.1016/j.apenergy.2016.10.080"
},
"citation": "Li, H., Chen, D., Zhang, H., Wu, C. & Wang, X. Hamiltonian analysis of a hydro-energy generation system in the transient of sudden load increasing. Applied Energy 185, 244–253 (2017)"
},
{
"identifiers": {
"doi": "10.1109/tec.2005.860407"
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},
{
"identifiers": {
"doi": "10.1109/tcsii.2010.2048378"
},
"citation": "Yanbo Gao, Guoping Lu & Zhiming Wang. Passivity Analysis of Uncertain Singularly Perturbed Systems. IEEE Trans. Circuits Syst. II 57, 486–490 (2010)"
},
{
"identifiers": {
"doi": "10.1109/tcsi.2013.2295953"
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},
{
"identifiers": {
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},
"citation": "Nageshrao, S. P., Lopes, G. A. D., Jeltsema, D. & Babuska, R. Port-Hamiltonian Systems in Adaptive and Learning Control: A Survey. IEEE Trans. Automat. Contr. 61, 1223–1238 (2016)"
},
{
"identifiers": {
"doi": "10.1016/j.est.2018.03.004"
},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {},
"citation": "babunski, Modelling and design of hydraulic turbine-governor system. 3rd IFAC Workshop on Automatic Systems for Building the Infrastructure in Developing Countries 2003 (2003)"
},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
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},
"citation": "Cerman, O. & Hušek, P. Adaptive fuzzy sliding mode control for electro-hydraulic servo mechanism. Expert Systems with Applications 39, 10269–10277 (2012)"
},
{
"identifiers": {
"doi": "10.1016/j.conengprac.2008.02.002"
},
"citation": "Guan, C. & Pan, S. Adaptive sliding mode control of electro-hydraulic system with nonlinear unknown parameters. Control Engineering Practice 16, 1275–1284 (2008)"
},
{
"identifiers": {
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},
"citation": "Jiang, J. Design of an optimal robust governor for hydraulic turbine generating units. IEEE Trans. On energy Conversion 10, 188–194 (1995)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/j.jfranklin.2014.07.002"
},
"citation": "Chen, D. et al. Nonlinear dynamic analysis for a Francis hydro-turbine governing system and its control. Journal of the Franklin Institute 351, 4596–4618 (2014)"
},
{
"identifiers": {
"doi": "10.1109/greentech.2017.19"
},
"citation": "Gil-Gonzalez, W., Montoya, O. D., Garces, A. & Espinosa-Perez, G. IDA-Passivity-Based Control for Superconducting Magnetic Energy Storage with PWM-CSC. 2017 Ninth Annual IEEE Green Technologies Conference (GreenTech) 89–95 (2017) doi:10.1109/greentech.2017.19"
},
{
"identifiers": {},
"citation": "montoya, PBC Approach for SMES Devices in Electric Distribution Networks. IEEE Transactions on Circuits and Systems II Express Briefs (2018)"
}
]
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"id": "498d67b3-79f4-539d-ab47-ae6683baf948",
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"doi": "10.1109/tdc-la.2018.8511707"
},
"type": "proceedings-article",
"title": "SCES Integration in Power Grids: a PBC Approach under abc, αβ0 and dq0 Reference Frames",
"authors": [
{
"given": "Oscar Danilo",
"family": "Montoya",
"literal": null,
"source_fields": {
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}
},
{
"given": "W.",
"family": "Gil-Gonzalez",
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"given": "Alejandro",
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"abstract": "This paper presents an integration of three-phase supercapacitor energy storage (SCES) in power grids via passivity- based control (PBC) theory under different reference frames. The SCES systems have the possibility to interchange active and reactive power between the supercapacitor and converter to the electrical power network. The active power is directly related to the energy stored on the supercapacitor, while the reactive power is redistributed by the forced commutated switches present in the voltage source converter (VSC) used to integrate the SCES system to the power grid. PBC theory allows designing Lyapunov stable controllers for autonomous and non-autonomous dynamical sys- tems via port-Hamiltonian (pH) representations. The averaging modeling theory employs to develop the controllers under abc, $\\alpha\\beta$ and $dq$ reference frames. Simulation results show the possibility of using the SCES devices to compensate active and reactive power in power grids dynamically in all operating quadrants. All simulations are conducted via MATLAB/SIMULINK software.",
"container_title": "2018 IEEE PES Transmission & Distribution Conference and Exhibition - Latin America (T&D-LA)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "1--5",
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"references": [
{
"identifiers": {},
"citation": "montoya, PBC Approach for SMES Devices in Electric Distribution Networks. IEEE Trans Circuits Syst II Express Briefs (2018)"
},
{
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"doi": "10.1109/tpwrs.2015.2498972"
},
"citation": "Shang, C., Srinivasan, D. & Reindl, T. Economic and Environmental Generation and Voyage Scheduling of All-Electric Ships. IEEE Trans. Power Syst. 31, 4087–4096 (2016)"
},
{
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"doi": "10.1109/tpwrd.2006.875856"
},
"citation": "Canteli, M. M., Fernandez, A. O., Eguiluz, L. I. & Estebanez, C. R. Three-phase adaptive frequency measurement based on Clarke’s transformation. IEEE Trans. Power Delivery 21, 1101–1105 (2006)"
},
{
"identifiers": {
"doi": "10.1016/j.epsr.2016.08.041"
},
"citation": "Serra, F. M. & De Angelo, C. H. IDA-PBC controller design for grid connected Front End Converters under non-ideal grid conditions. Electric Power Systems Research 142, 12–19 (2017)"
},
{
"identifiers": {},
"citation": "perko, Differential Equations and Dynamical Systems Texts in Applied Mathematics (2013)"
},
{
"identifiers": {
"doi": "10.1109/tpwrd.2008.921117"
},
"citation": "Jing Shi, Yuejin Tang, Li Ren, Jingdong Li & Shijie Cheng. Discretization-Based Decoupled State-Feedback Control for Current Source Power Conditioning System of SMES. IEEE Trans. Power Delivery 23, 2097–2104 (2008)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2016.2565642"
},
"citation": "Golestan, S., Guerrero, J. M. & Vasquez, J. C. Three-Phase PLLs: A Review of Recent Advances. IEEE Trans. Power Electron. 32, 1894–1907 (2017)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2015.2496217"
},
"citation": "Ortega, A. & Milano, F. Generalized Model of VSC-Based Energy Storage Systems for Transient Stability Analysis. IEEE Trans. Power Syst. 31, 3369–3380 (2016)"
},
{
"identifiers": {
"doi": "10.17230/ingciencia.13.26.6"
},
"citation": "Gil González, W. J., Garcés, A. & Escobar, A. A Generalized Model and Control forSupermagnetic and Supercapacitor EnergyStorage. ing. cienc. 13, 147–171 (2017)"
},
{
"identifiers": {
"doi": "10.1109/access.2015.2443119"
},
"citation": "Parhizi, S., Lotfi, H., Khodaei, A. & Bahramirad, S. State of the Art in Research on Microgrids: A Review. IEEE Access 3, 890–925 (2015)"
},
{
"identifiers": {
"doi": "10.1109/tte.2016.2552721"
},
"citation": "Yin, H., Zhou, W., Li, M., Ma, C. & Zhao, C. An Adaptive Fuzzy Logic-Based Energy Management Strategy on Battery/Ultracapacitor Hybrid Electric Vehicles. IEEE Trans. Transp. Electrific. 2, 300–311 (2016)"
},
{
"identifiers": {
"doi": "10.1109/tsg.2016.2600863"
},
"citation": "Rahbar, K., Chai, C. C. & Zhang, R. Energy Cooperation Optimization in Microgrids With Renewable Energy Integration. IEEE Trans. Smart Grid 9, 1482–1493 (2018)"
}
]
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"identifiers": {
"doi": "10.1109/tec.2024.3406147"
},
"type": "journal-article",
"title": "Unified Damping Assignment Passivity Based Controller for Power Conversion Units of Solar Power Plants",
"authors": [
{
"given": "Seyed Mohammad",
"family": "Azimi",
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"ORCID": "https://orcid.org/0000-0002-7846-2323",
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{
"name": "Department of Electrical Engineering, Hamedan University of Technology, Hamedan, Iran"
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"given": "Saeed",
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"name": "School of Electrical Engineering and Computer Science, Washington State University, Pullman, WA, USA"
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],
"abstract": "In this paper, a unified damping assignment passivity based control scheme (UDA-PBC) is proposed for PV-plants (PV-P) in the form of power conversion unit (PCU) connected to distribution power grids (DPGs). The PCU includes a super-capacitor unit (SCU), bidirectional buck/boost converter interfacing SCU to DC-link capacitor, and grid-side voltage-source converter (VSC) operating in cooperation with SCU. According to the maximum power point tracking (MPPT) algorithm, the boost converter extracts maximum active power from PV-P and feeds the power to the PCU. Then, the PCU using the unified operation of SCU and VSC based on the proposed control scheme damps possible DC-side and AC-side power oscillations and delivers the power smoothly to the DPG. To this end, the model of output filter associated to VSC in synchronous reference frame (SRF), DC-link capacitor, SCU are modeled as a 5-order nonlinear state space equation and represented in the port controlled Hamiltonian (PCH) form. Then, the unified nonlinear control of PCU is designed with the utilization of DA-PBC idea applied to the developed model. In addition to mathematical stability proofs, the effectiveness of the proposed strategy is verified based on a set of time-domain simulations and comparisons with conventional methods.",
"container_title": "IEEE Transactions on Energy Conversion",
"publication_year": "2024",
"volume": "39",
"issue": "4",
"pages": "2258--2268",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"keywords": [],
"created_date": "2024-05-28",
"permalink": "unified-damping-assignment-passivity-based-controller-for-power-conversion-units-of-solar-power-plants",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
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},
{
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},
{
"identifiers": {
"doi": "10.3390/app9132769"
},
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},
{
"identifiers": {
"doi": "10.1109/access.2018.2887114"
},
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},
{
"identifiers": {
"doi": "10.1109/isie.2010.5637582"
},
"citation": "Hilairet, M., Bethoux, O., Azib, T. & Talj, R. Interconnection and damping assignment passivity-based control of a fuel cell system. 2010 IEEE International Symposium on Industrial Electronics 219–224 (2010) doi:10.1109/isie.2010.5637582"
},
{
"identifiers": {
"doi": "10.1109/tste.2020.2992535"
},
"citation": "Azimi, S. M. & Lotfifard, S. A Nonlinear Controller Design for Power Conversion Units in Islanded Micro-grids using Interconnection and Damping Assignment Tracking Control. IEEE Trans. Sustain. Energy 12, 284–292 (2021)"
},
{
"identifiers": {
"doi": "10.1109/jsyst.2019.2961314"
},
"citation": "Azimi, S. M. & Hamzeh, M. Adaptive Interconnection and Damping Assignment Passivity-Based Control of Interlinking Converter in Hybrid AC/DC Grids. IEEE Systems Journal 14, 4718–4725 (2020)"
},
{
"identifiers": {
"doi": "10.1109/tie.2007.907662"
},
"citation": "Seul-Ki Kim, Jin-Hong Jeon, Chang-Hee Cho, Jong-Bo Ahn & Sae-Hyuk Kwon. Dynamic Modeling and Control of a Grid-Connected Hybrid Generation System With Versatile Power Transfer. IEEE Trans. Ind. Electron. 55, 1677–1688 (2008)"
},
{
"identifiers": {
"doi": "10.1109/tec.2007.914200"
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},
{
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"doi": "10.1109/tpwrd.2010.2047735"
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},
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"abstract": "In the more electric aircraft context, dc distribution systems have a time-varying structure due to the flexible distributed loads and complex operation conditions. This feature poses challenges for system stability and increases the difficulty of the stability analysis. Besides, the risk of instability may be increased under constant power load condition due to the negative incremental impedance characteristic. To this end, this article proposes an improved interconnection and damping assignment passivity-based control scheme. Particularly, an adaptive interconnection matrix is developed to establish the internal links in port-controlled Hamiltonian models and to generate the unique control law. The damping assignment technique is addressed to tune the dynamic characteristic. In order to meet the load requirements of different voltage levels, the design procedures were given for determining the control law in both boost converter and buck converter cases. The simulation and experimental results are performed to demonstrate the validity of the proposed control approach.",
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"abstract": "It is well known that the interaction between cascaded individually designed power conversion systems can cause instability. To overcome this issue, a Hamiltonian energy control scheme is proposed, which is based on passivity control theory and port-controlled Hamiltonian framework. A complementary PI adjustment term is also included in the control algorithm to eliminate the steady-state output voltage error caused by the parameter uncertainty. The proposed control approach is applied to three different cascade structures. First, the cascade structure between dc/dc converters is considered, and the detailed controller design is given. Second, the cascade connection of a single converter and its LC filter is studied. By placing the LC filter into the Hamiltonian model of the controlled converter system, the dynamic and potential instability caused by the filter can be adjusted. Finally, the cascade structure between subsystems including filters and converters, which are common in microgrids, is studied. By using the Hamiltonian function (storage function) as the Lyapunov function candidate, the large-signal stability of each controlled converter system is proved. When the cascade structure contains multiple controlled converter systems, the stability of the entire cascaded system is guaranteed by the superposition of multiple Lyapunov functions. A 3.5 kW 220−270−350 V test bench is built in the laboratory to demonstrate the application of the proposed control approach to these three cascade structures.",
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"abstract": "Multiple cascaded filters can lead to instability in DC microgrids. To address this issue, this paper proposes a stabilization strategy for a DC microgrid with multiple cascaded filter subsystems. Stability is achieved by considering the cascaded input and output filters at the subsystem level and establishing a modified Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) strategy based on port-controlled Hamiltonian modelling. First, the general design procedure of the proposed control strategy and its large-signal stability proof are presented, and the stability of the entire microgrid is proved. Second, an example design of the controller considering the cascaded input and output filters source subsystem is given. Finally, the modified IDA-PBC strategy is applied to the basic unit of the DC microgrid, which includes the source subsystem of the cascaded input and output filters and the load subsystem of the cascaded input filter. The modified strategy is further applied to a complete DC microgrid containing multiple subsystems. The experimental results and hardware-in-the-loop results indicate the effectiveness of the proposed strategy.",
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"abstract": "Power electronics-based medium-voltage direct current (MVdc) microgrids consist of several interconnected feedback-controlled switching converters. Such systems experience bus voltage stability challenges owing to the negative incremental resistance of constant power loads and converter control loop interactions. To tackle the stability challenges, this paper presents the application of the interconnection and damping assignment passivity-based control (IDA-PBC) approach to the port-controlled Hamiltonian model of dual active bridge (DAB) source-side converters in an MVdc microgrid. For the DABs, a fundamental average model approach considering phase shift modulation is provided and used for deriving the corresponding IDA-PBC control law. We analyze the effectiveness of the controller on large signal scenarios considering disturbances such as load step up, and DAB disconnection. Hardware-in-the-Loop experiments using Opal-RT and Labview field programmable gate arrays (FPGAs), as well as, low power prototype tests are carried out to demonstrate the validity and feasibility of the proposed approach.",
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"abstract": "This article presents a nonlinear passivity-based control for a grid-connected cascaded H-bridge (CHB) photovoltaic (PV) system. The proposed control system is based on a port-controlled Hamiltonian model extracted from the synchronous reference frame system. Grid current dynamics is included in this model. Compared to existing solutions, the proposed control method has a robust performance and enhances the stability of the CHB-based PV system in the case of disturbances such as unequal irradiance over distinct PV arrays or a sudden sag or swell in the grid voltage. This controller also provides the independent control of each dc-link voltage. Therefore, the individual maximum power point tracking algorithms can be realized in each PV array, and the harvested energy can be maximized. Finally, simulation results and experimental investigations are conducted to verify the effectiveness of the proposed strategy.",
"container_title": "IEEE Transactions on Industrial Electronics",
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"abstract": "In this article, a novel passivity-based control strategy is proposed for the exponentially stable tracking controller design of static synchronous compensator (STATCOM) system, which is a single input and single output. The STATCOM is not an input-affine system but a special port-controlled Hamiltonian system form. Hence, it is regularized by using a dynamic extension algorithm so that the proposed tracking control strategy is designed in an input–output linearization framework with a bounded solution to the driven zero dynamics equation. The proposed control strategy is proposed with consideration of the performance and stability of the input–output linearized dynamics. Simulation results show that the proposed control strategy improves the transient performance of the system compared to the previous results even in the lightly damped operating range.",
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"doi": "10.1109/tii.2025.3545082"
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"title": "Design and Stability of Market-Oriented Frequency Regulation in Power Systems With CHP Units and Renewable Sources",
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"abstract": "Electricity industry marketization and combined heat and power (CHP) systems are actively considered efficacious approaches for balancing supply and demand in future energy systems with high penetration of renewable sources. Relevant research to date has paid little attention to the interaction of economic behaviors with the dynamics of the CHP system, focusing only on optimal bidding at the economic level or stability at the physical level. By leveraging the primal-dual method and the insights from reverse engineering, we propose a unified economic-physical model to investigate how market dynamics interact with its underlying physical CHP systems. The market clearing optimization is redesigned as a controller that restores the nominal frequency while maximizing social welfare. This work steps further toward developing a novel control scheme for frequency regulation in market-oriented power systems with CHP units and renewable sources. As the proposed model can be formulated in port-Hamiltonian form, the stability of the closed-loop system can be assessed using Lyapunov's direct method. The capability and effectiveness of the proposed model are demonstrated through simulations.",
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"abstract": "Industrial circuit systems are subject to significant information uncertainties, such as noise, incomplete state measurements, unknown loads, and lumped disturbances, which can jeopardize stability and safety. This article addresses these challenges in stochastic port-Hamiltonian systems (SPHSs) through novel control strategies. A reduced-order observer, formulated via linear matrix inequalities, is developed to observe system states when complete measurements are unavailable. We prove that the observation error converges to zero both in almost sure and mean square senses. For SPHS with lumped disturbances, a disturbance observer enables feedforward compensation by observing unknown disturbances. In addition, tunable estimators are proposed to identify constant but unknown loads, with performance optimized through function selection. Furthermore, based on stochastic versions of LaSalle’s invariance principle and Barbalat’s lemma, we prove that a SPHS which is passive under constant control is also stabilizable via proportional–integral control. The efficacy of the proposed methods is demonstrated through circuit simulation examples, confirming their applicability in mitigating information uncertainties in industrial environments.",
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"abstract": "In this paper, a new passivity-based control approach is designed to improve the robustness and stability of autonomous vehicles in performing path-tracking tasks. A port-Hamiltonian model is a special geometric structure and provides a systematic and insightful framework to describe many physical systems from an energy perspective. The passivity-based control establishes a new and simple structure to achieve the path-tracking task by the port-Hamiltonian structure. Firstly, the path-tracking error system is transformed into a port-Hamiltonian system with the perturbation. The energy-shaping method is utilized to ensure the asymptotic stability, and the stability proof of the closed-loop, path-tracking error system is given. The proposed real-time, passivity-based controller is directly dependent on the passive outputs, which is robust to parameter uncertainties caused by load changes. Moreover, the control performance of steering control will be degraded when the steering angle is saturated. The yaw-moment control is introduced to enhance the driving safety. In the wheel torque distribution, an optimization-based control allocation is designed to minimize the sum of tire loads and to make them more evenly distributed to each tire. Finally, simulations are implemented in MATLAB/Simulink and CarSim co-simulation to demonstrate the effectiveness of the designed strategy under different driving conditions.",
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"abstract": "In this paper, we present a novel underactuated gantry crane (GC) systems where an extra degree-of-freedom actuation is introduced to control the trolley position and its sway angle during motion. The proposed gantry crane systems resembles a prismatic-revolute-prismatic (PRP) robotic configuration where the revolute joint corresponds to the sway angle which is not actuated. Firstly, an energy-based modeling of the PRP-GC systems is presented where both Euler-Lagrange and port-controlled Hamiltonian formalisms are used. Secondly, we present the design of a Neural Interconnection and Damping Assignment Passivity-Based Controller (N-IDA-PBC) that allows for an automated learning of an IDA-PBC controller, where the solutions to the corresponding IDA-PBC matching PDE are not trivial for underactuated systems. Finally, the efficacy of the proposed N-IDA-PBC is evaluated through Monte Carlo simulations, where the neural networks training of N-IDA-PBC uses $3,000$ randomly generated data points and $20,000$ samples of Monte-Carlo simulation are performed, taking into account uncertainties in the systems’ parameters, including initial states, physical damping, and payload masses. The Monte-Carlo simulations show that the trained N-IDA-PBC is able to regulate the trolley position and sway angle to the set-point position and it is robust against parameter uncertainties.",
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"abstract": "A port-Hamiltonian model is suitable to represent the dynamics of many physical processes, which has an essential feature of underscoring a significance of an energy function, an interconnection pattern, and a dissipation for physical systems. Hence, adaptive path-tracking control with a passivity-based observer is designed by the port-Hamiltonian model for autonomous vehicles in this article. Firstly, a passivity-based observer of lateral velocity is established by designing a gain matrix to assign the interconnection and damping parts, which makes an observation error system transform into a desired port-Hamiltonian system and renders the observer passive. At the same time, it's convergence and stability analysis is given. Then, a port-Hamiltonian model with perturbations and actuator saturations is constructed to describe lateral vehicle dynamics in terms of tracking errors for path-tracking, and an L2-gain disturbance attenuation strategy is developed to overcome the adverse influence caused of external disturbances. Furthermore, the robust stability of the controller is proved in the presence of observation errors and external disturbances. Finally, simulations and experiments are performed to demonstrate the effectiveness of the proposed control strategy.",
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"abstract": "Electromagneto-quasistatic (EMQS) field formulations allow to model resistive, capacitive, and inductive field effects while neglecting wave propagation. These field formulations are based on the Darwin–Ampére equation and yield different approximations of the full set of Maxwell’s equations depending on the choice of additional equations. Various discrete EMQS formulations are analyzed using the port-Hamiltonian system framework. It is shown that several symmetric EMQS formulations, e.g., combinations of the Darwin–Ampére equation and the Maxwell continuity equation, yield port-Hamiltonian differential-algebraic equation (pH-DAE) systems, which implies their numerical stability, energy conservation related to a specific EMQS variant of the Hamiltonian and dissipativity results.",
"container_title": "IEEE Transactions on Magnetics",
"publication_year": "2025",
"volume": "61",
"issue": "1",
"pages": "1--4",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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{
"identifiers": {
"doi": "10.1063/5.0199294"
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"citation": "Pourkeivannour, S., van Zwieten, J. S. B., Iwai, K. & Curti, M. A light Darwin implementation of Maxwell’s equations to quantify resistive, inductive, and capacitive couplings in windings. AIP Advances vol. 14 (2024)"
},
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"doi": "10.1109/intermagshortpapers58606.2023.10228667"
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"citation": "Hou, X. et al. Electromagnetic Field Analysis on Ringing Phenomenon of Inductor Driven by Inverter Considering Stray Capacitance. 2023 IEEE International Magnetic Conference - Short Papers (INTERMAG Short Papers) 1–2 (2023) doi:10.1109/intermagshortpapers58606.2023.10228667"
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"doi": "10.1109/tmag.2019.2951066"
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"citation": "Badics, Z., Pavo, J., Bilicz, S. & Gyimothy, S. Subdomain Perturbation Finite-Element Method for Quasi-static Darwin Approximation. IEEE Transactions on Magnetics vol. 56 1–4 (2020)"
},
{
"identifiers": {
"doi": "10.1080/14786440508636066"
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"citation": "Darwin, C. G. LI. The dynamical motions of charged particles. The London, Edinburgh, and Dublin Philosophical Magazine and Journal of Science vol. 39 537–551 (1920)"
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"doi": "10.1109/tmag.2011.2173163"
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"citation": "Koch, S., Schneider, H. & Weiland, T. A Low-Frequency Approximation to the Maxwell Equations Simultaneously Considering Inductive and Capacitive Phenomena. IEEE Transactions on Magnetics vol. 48 511–514 (2012)"
},
{
"identifiers": {
"doi": "10.1109/tmag.2023.3333943"
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"citation": "Henkel, M.-L., Kasolis, F. & Clemens, M. A Gradient-Divergence Operator-Regularized Electromagneto-Quasistatic Field Formulation. IEEE Transactions on Magnetics vol. 60 1–4 (2024)"
},
{
"identifiers": {
"doi": "10.1007/978-3-031-11818-0_60"
},
"citation": "Kaimori, H., Mifune, T. & Kameari, A. Investigation of Darwin Model with Two Types of Coulomb Gauge Condition in Frequency-Domain Electromagnetic Finite-Element Method. Mathematics in Industry 463–469 (2022) doi:10.1007/978-3-031-11818-0_60"
},
{
"identifiers": {
"doi": "10.1109/tmag.2022.3187869"
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"citation": "Henkel, M.-L., Kasolis, F., Clemens, M., Gunther, M. & Schops, S. Implicit Gauging of Electromagneto-Quasistatic Field Formulations. IEEE Transactions on Magnetics vol. 58 1–4 (2022)"
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{
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"doi": "10.1002/(sici)1099-1204(199607)9:4<295::aid-jnm240>3.0.co;2-8"
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"citation": "WEILAND, T. TIME DOMAIN ELECTROMAGNETIC FIELD COMPUTATION WITH FINITE DIFFERENCE METHODS. International Journal of Numerical Modelling: Electronic Networks, Devices and Fields vol. 9 295–319 (1996)"
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"identifiers": {
"doi": "10.1109/tmag.2019.2899288"
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"citation": "Zhao, Y. & Tang, Z. A Novel Gauged Potential Formulation for 3-D Electromagnetic Field Analysis Including Both Inductive and Capacitive Effects. IEEE Transactions on Magnetics vol. 55 1–5 (2019)"
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{
"identifiers": {
"doi": "10.1109/tmag.2023.3244722"
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"citation": "Badics, Z., Pávó, J., Bilicz, S. & Gyimóthy, S. Finite-Element A-V Formulation for EMQS Problems via Two-Domain Continuity Gauging. IEEE Transactions on Magnetics vol. 59 1–4 (2023)"
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"doi": "10.1109/tmag.2023.3304998"
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"citation": "Kaimori, H., Mifune, T., Kameari, A. & Wakao, S. Low-Frequency Stabilized Formulations of Darwin Model in Time-Domain Electromagnetic Finite-Element Method. IEEE Transactions on Magnetics vol. 60 1–5 (2024)"
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"doi": "10.1007/978-3-0348-0399-1"
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"citation": "Jacob, B. & Zwart, H. J. Linear Port-Hamiltonian Systems on Infinite-Dimensional Spaces. (Springer Basel, 2012). doi:10.1007/978-3-0348-0399-1"
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"doi": "10.1007/978-3-031-54517-7_15"
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"citation": "Bartel, A., Clemens, M., Günther, M., Jacob, B. & Reis, T. Port-Hamiltonian Systems’ Modelling in Electrical Engineering. Mathematics in Industry 133–143 (2024) doi:10.1007/978-3-031-54517-7_15"
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"doi": "10.1109/cdc40024.2019.9030180"
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"citation": "Mehrmann, V. & Morandin, R. Structure-preserving discretization for port-Hamiltonian descriptor systems. 2019 IEEE 58th Conference on Decision and Control (CDC) 6863–6868 (2019) doi:10.1109/cdc40024.2019.9030180"
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"title": "Precise Control of Elastic Joint Robot Using an Interconnection and Damping Assignment Passivity-Based Approach",
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"abstract": "Vibration suppression and precise tracking are the two main challenges in the control of elastic joint robots. In this study, an elastic joint robot with precise position sensors on both the motor and link sides is developed to tackle these challenges. With a two-mass model for elastic joint and a LuGre friction model for joint friction, the elastic joint robot system is modeled and analyzed as an underactuated port-controlled Hamiltonian system with dissipation (PCHD). The proposed elastic joint controller is integrated with friction compensation using the interconnection and damping assignment passivity-based control method, leading to a PCHD closed loop system that can be effectively tuned to suppress vibration associated with elastic joints. In addition, integral control is employed to achieve high tracking precision. Experiments have been conducted and the results have demonstrated high performance of the proposed control method.",
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"identifiers": {
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{
"identifiers": {
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"identifiers": {},
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1109/tac.2005.858676"
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{
"identifiers": {
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{
"identifiers": {},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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{
"identifiers": {
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},
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},
{
"identifiers": {
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{
"identifiers": {
"doi": "10.1016/j.mechatronics.2013.04.002"
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"citation": "Tjahjowidodo, T., Al-Bender, F. & Van Brussel, H. Theoretical modelling and experimental identification of nonlinear torsional behaviour in harmonic drives. Mechatronics 23, 497–504 (2013)"
},
{
"identifiers": {
"doi": "10.1016/j.mechatronics.2014.02.009"
},
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"identifiers": {
"doi": "10.1109/tro.2008.915438"
},
"citation": "Ott, C., Albu-Schaffer, A., Kugi, A. & Hirzinger, G. On the Passivity-Based Impedance Control of Flexible Joint Robots. IEEE Trans. Robot. 24, 416–429 (2008)"
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"identifiers": {
"doi": "10.1177/0278364907073776"
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"citation": "Albu-Schäffer, A., Ott, C. & Hirzinger, G. A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. The International Journal of Robotics Research 26, 23–39 (2007)"
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{
"identifiers": {
"doi": "10.1109/tmech.2014.2311382"
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"citation": "Zhang, H., Ahmad, S. & Liu, G. Modeling of Torsional Compliance and Hysteresis Behaviors in Harmonic Drives. IEEE/ASME Trans. Mechatron. 20, 178–185 (2015)"
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{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
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{
"identifiers": {
"doi": "10.3166/ejc.10.478-496"
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},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2011.09.015"
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"citation": "Ortega, R. & Romero, J. G. Robust integral control of port-Hamiltonian systems: The case of non-passive outputs with unmatched disturbances. Systems & Control Letters 61, 11–17 (2012)"
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"type": "journal-article",
"title": "Energy-Based Modeling of Ionic Polymer–Metal Composite Actuators Dedicated to the Control of Flexible Structures",
"authors": [
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"given": "Ning",
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"abstract": "This article deals with the control-oriented energy-based modeling of ionic polymer–metal composite (IPMC) patches using multiscale infinite dimensional port-Hamiltonian formulations and Lagrange multipliers. Inspired by the work of Nishida et al. in 2012, but considering different assumptions, this article focuses on the constraints arising from the coupling between the polymer gel and the compliant mechanical structure of the actuator, under the quasi-static mechanical assumption for the gel, leading to a constrained port-Hamiltonian system. The geometric structure of the overall system and the associated energy balance are derived. The proposed energy-based model of the IPMC actuator allows deriving controllers via energy-based control design methods with a clear physical interpretation. The proposed actuator model is further discretized in space using a structure preserving finite difference method. The Lagrange multipliers are eliminated using coordinate projections. Simulations are compared with experimental results. With proper discretization numbers, our model is consistent with the physical system. Finally, Lagrange multipliers are exploited to connect the actuator to a 2-D flexible structure stemming from the modeling of a flexible endoscope.",
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"publication_year": "2021",
"volume": "26",
"issue": "6",
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"abstract": "Soft continuum manipulators are characterized by low stiffness that allows safe operation in unstructured environments but introduces underactuation. In addition, soft materials such as silicone rubber, which are commonly used for soft manipulators, are characterized by nonlinear stiffness, while pneumatic actuation can result in nonlinear damping. Consequently, achieving accurate control of these systems in the presence of disturbances is a challenging task. This article investigates the model-based adaptive control for soft continuum manipulators that have nonlinear uniform stiffness and nonlinear damping, that bend under the effect of internal pressure, and that are subject to time-varying disturbances. A rigid-link model with virtual elastic joints is employed for control purposes within the port-Hamiltonian framework. The effects of disturbances and model uncertainties are estimated adaptively. A nonlinear controller that regulates the tip orientation of the manipulator and that compensates the effects of disturbances and of model uncertainties is then constructed by using an energy shaping passivity-based approach. Stability conditions are discussed highlighting the beneficial role of nonlinear damping. The effectiveness of the controller is assessed with simulations and with experiments on a soft continuum manipulator prototype.",
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"abstract": "In this article, we present a novel energy-based control architecture on Euler–Bernoulli beams equipped with a variable stiffness mechanism. To proof the methodological validity of the approach, two control laws are developed using the power balance of the system, explicitly encoded in its infinite-dimensional port-Hamiltonian formulation. The laws are designed to stabilize the beam and to induce limit cycles on it, respectively, increasing damping by removing energy from the system and countering damping by injecting energy into the system. The variable stiffness mechanism is realized through a distributed axial load, applied by means of a wire on a winch, and is able to achieve effective stiffness variation due to softening. An experimental setup is designed to validate the theory. 3-D-printed, embedded, piezoresistive strain gauges are used as sensing units for closed-loop control. We show how the developed approach conveniently deals with such sensors, overcoming potential problems arising from their nonideal response. Experimental results show the validity and the robustness of the proposed control laws. High speed videos are used to validate the measurements.",
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"abstract": "Current studies struggle to achieve multiobjective optimization for overactuated electric vehicles. This article proposes a cohesive hierarchical architecture that integrates coordinated control with velocity optimization, enabling tracking of desired planar motions while ensuring ride comfort and energy efficiency. First, a velocity optimization strategy based on the deep deterministic policy gradient is developed to achieve comfortable and energy-efficient driving. Desired vehicle states are generated by a reference model. The stability of the coordinated control is then formulated as a tracking problem for these desired vehicle states. To account for parameter uncertainties and external disturbances, a port-Hamiltonian model is employed to describe nonlinear planar motions incorporating four-wheel dynamics of overactuated electric vehicles. A robust passivity-based control method with guaranteed stability is developed using this model to track the desired vehicle states. Furthermore, to reduce sensor costs and improve measurement reliability, a real-time nonlinear observer is designed to accurately estimate lateral velocity. The stability of the overall system is analyzed considering estimation errors. Finally, simulation and experimental results demonstrate the effectiveness of the proposed method compared to existing approaches across various driving scenarios.",
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"abstract": "The port-Hamiltonian form (PHF) of nuclear reactor dynamics is first given with the corresponding Hamiltonian function determined by the shifted-ectropies of neutron kinetics and reactor thermal-hydraulics. Then, a passivity-based control (PBC) is proposed by adding extra damping injections to the PHF, and it is shown by theoretical analysis that satisfactory closed-loop stability can be guaranteed. The newly designed control law is applied to a nuclear heating reactor, and the simulation results not only verify the theoretical analysis but also show the satisfactory reactor power-level control performance.",
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"abstract": "Both interpersonal communication and media contact are important information sources and play a significant role in shaping public opinions of large populations. In this paper, we investigate how the opinion-forming process evolves over social networks under the media influence. In addition to being affected by the opinions of their connected peers, the media cooperate and/or compete mutually with each other. Networks with mixed cooperative and competitive interactions are said to be coopetitive. In this endeavor, a novel mathematical model of opinion dynamics is introduced, which captures the information diffusion process under consideration, makes use of the community-based network structure, and takes into account personalized biases among individuals in social networks. By employing port-Hamiltonian system theory to analyze the modeled opinion dynamics, we predict how public opinions evolve in the long run through social entities and find applications in political strategy science. A key technical observation is that as a result of the port-Hamiltonian formulation, the mathematical passivity property of individuals’ self-dynamics facilitates the convergence analysis of opinion evolution. We explain how to steer public opinions towards consensus, polarity, or neutrality, and investigate how an autocratic media coalition might emerge regardless of public views. We also assess the role of interpersonal communication and media exposure, which in itself is an essential topic in mathematical sociology.",
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"pages": "961--974",
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"abstract": "The underlying voltage/current tracking control is a key issue for a hybrid energy storage system (HESS) in electric vehicles. This article presents an innovative passivity-based L2-gain adaptive robust control (L2-ARC) method for a fully active battery/super-capacitor HESS. First, by exploiting and analyzing the internal structural properties, the port-controlled Hamiltonian model with dissipation for HESS is derived and then, the interconnection and damping assignment-passive based controller (IDA-PBC) is designed to realize the underlying control, where the rule-based energy management strategy is adopted to generate the current references. To overcome the adverse influence of external disturbances and parameter perturbations under complex driving conditions, by combining the L2 gain disturbance attenuation technique with the IDA-PBC method, the L2-ARC method is developed to guarantee fast response, high performance, and robust stability. Moreover, an adaptive mechanism is adopted to estimate the electrical parameters. The performance of L2-ARC is thoroughly investigated and compared through comprehensive case studies with traditional PID, IDA-PBC, and sliding mode controllers. Finally, a control prototype is implemented to validate L2-ARC.",
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"abstract": "In this article, a passivity-based virtual oscillator control strategy with enhanced synchronization stability for grid-forming inverters (GFMs) is proposed. By adopting the port-controlled Hamiltonian system theory for orbital stabilization problems, an energy pumping-and-damping block is proposed to render GFMs globally asymptotically stable with respect to the prespecified solutions of the power-flow equations from any initial condition. This allows for stable integrations of GFMs to any other globally asymptotically stable systems without their explicit knowledge, e.g., helping maintain synchronism with the bulk power system in a wide range of short-circuit-ratio conditions or under large disturbances and keeping synchronism among multiple GFMs in power systems. Both simulations and experiments are presented to demonstrate the proposed control approach.",
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"abstract": "This article presents a modified dispatchable virtual oscillator control approach for achieving the passivity of grid-forming inverters (GFMs), without assuming constant voltage and constant frequency. The proposed control framework utilizes the port-Hamiltonian (PH)–based structure that mimics the behaviors of coupled harmonic oscillators, along with an energy “pumping-or-damping” block and the control by interconnection technique, to render the inverter passive. Once passivity is achieved, the transient stability of the system will be guaranteed. The proposed control framework is composed of three loops: an outer power dispatching loop that generates the voltage and frequency references, a virtual oscillator loop that emulates the spontaneous synchronization of oscillators, and an inductor current loop that maintains lossless interconnection in PH systems. The study shows that the proposed control approach ensures the passivity of GFMs, facilitating the transient stability design of multi-inverter systems, as interconnections of passive systems remain passive and stable.",
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"abstract": "This article investigates the high-speed and high-precision control problems of permanent magnet synchronous motor (PMSM) servo system under actuator faults, input constraints, and unknown load conditions. From the perspective of signal processing and energy transformation, consider the PMSM servo system as a unified entity of multiport signal processing and energy transformation. Then, a signal processing-based fixed time integral-type sliding mode control algorithm is designed to achieve fast dynamic trajectory regulation in dynamic process. By using the energy transformation-based fixed time error port-controlled Hamiltonian control method, the precise trajectory tracking and energy loss optimization control can be realized in steady-state process. Furthermore, a cooperative optimization control strategy based on convex combination mechanism is proposed, which fully utilizing the advantages of signal processing-based control and energy transformation-based control. A fixed time input constraint compensation mechanism is introduced to address the problem of input constraints. In addition, a fixed time-extended state observer is designed to handle actuator faults and unknown load problems, which can quickly observe faults and unknown load states, effectively improving fault tolerance and multisource uncertainties suppression performances of system. Finally, utilizing the Lyapunov criterion, the stability of the entire closed-loop system is discussed, and a large number of experimental results verified the effectiveness of the proposed strategy.",
"container_title": "IEEE Transactions on Power Electronics",
"publication_year": "2025",
"volume": "40",
"issue": "11",
"pages": "16469--16482",
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"references": [
{
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{
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{
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{
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},
{
"identifiers": {
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{
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"title": "Modeling, Analysis, and Mitigation of Active Power Oscillation in Parallel VSGs System",
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"abstract": "Recent years, the virtual synchronous generator (VSG) is widely used in practice, owing to its ability to emulate the behavior of traditional synchronous generators. However, a challenge issue emerges during load changes, namely, the active power oscillation tends to cause overload and frequency stability deterioration, especially in the parallel VSGs system. Although some studies have tried to address this issue, the effectiveness of conventional methods based on small signal model (model linearization) are influenced by the change of equilibrium point. And the linear method of parallel VSGs system is lack of a stable design framework. As the number of VSGs increases, the order of model will increase rapidly, then the stability of parallel system is difficult to be proven by the root locus or other linear stability criteria. Therefore, in this article, the port-controlled Hamiltonian model is first built, which provides a stable framework for control law designing. Then, this model is employed to investigate the impact of coupling effect between parallel VSGs, which induces the oscillation. Furthermore, to mitigate the active power oscillation and enhance the frequency stability, the coupling effect is regarded as the disturbance, and a control law is proposed to constrain the impact of disturbance based on the L2-disturbance attenuation. Finally, effectiveness of the proposed strategy is validated by simulations and experiments.",
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"abstract": "We perform a finite-horizon controllability and reachability analysis of tokamak electromagnetic field profiles using a 0-D resistive-diffusion model in the port-Hamiltonian (PH) framework. With a quadratic Hamiltonian, the PH dynamics reduce to a linear realization, and allowing plasma parameters to vary in time produces a linear time-varying (LTV) system suitable for finite-horizon analysis. Focusing on a flat-top window after electron cyclotron current drive (ECCD) reaches its setpoint, we treat the boundary loop voltage and localized ECCD as inputs and evaluate reachability and controllability Gramians in energy-normalized coordinates. The reachability Gramian bounds the minimum input energy needed to achieve target profile changes from rest, and the controllability Gramian bounds the effort to drive perturbations to zero. Their eigenstructures expose well- and poorly actuated directions. We summarize actuation authority with two metrics—the minimum eigenvalue (worst case effort) and the log-determinant (log-volume of the reachable/controllable ellipsoid)—which provide energy-based bounds for realistic objectives. Applied to the flat-top window, our analysis shows that actuator placement and early-window actuation dominate profile-shaping authority, yielding simple rules that turn tuning into quantitative feasibility checks and reduce experimental risk.",
"container_title": "IEEE Transactions on Plasma Science",
"publication_year": "2026",
"volume": "54",
"issue": "6",
"pages": "2764--2769",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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{
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{
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"doi": "10.1109/tpwrs.2016.2605007"
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"type": "journal-article",
"title": "A New Load Frequency Control Method of Multi-Area Power System via the Viewpoints of Port-Hamiltonian System and Cascade System",
"authors": [
{
"given": "Liangcheng",
"family": "Cai",
"literal": null,
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{
"given": "Zhengyou",
"family": "He",
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"abstract": "The existed control methods of the multi-area load frequency control (LFC) system fail to decouple the total tie-line power flow. This defect can be addressed as a problem on how to effectively utilize the total tie-line power flow. To improve that defect, the energy and structure of multi-area LFC system have been carefully studied, such that, the energy goes through the systemic cascade parts and the systemic structure matrix is partially skew symmetry. Namely, the energy and structural properties of the multi-area LFC system are similar to the properties of Port-Hamiltonian (PH) system and cascade system. Inspired by the above properties, a new method based on the PH system and cascade system that is proposed to design some PID control laws for the multi-area LFC system successfully works out the aforementioned problem. Compared with the existed PID methods for the multi-area LFC system, the proposed method has two advantages, which are the decoupling of total tie-line power flow and the robust disturbance rejection. At last, simulations results demonstrate the validity and advantages of the proposed method.",
"container_title": "IEEE Transactions on Power Systems",
"publication_year": "2017",
"volume": "32",
"issue": "3",
"pages": "1689--1700",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"doi": "10.1109/tpwrs.2018.2789450"
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"type": "journal-article",
"title": "An Approach to Suppress Low Frequency Oscillation in the Traction Network of High-Speed Railway Using Passivity-Based Control",
"authors": [
{
"given": "Zhigang",
"family": "Liu",
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"given": "Zhaozhao",
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"abstract": "The traction blockade in depots of multiple electric multiple units (EMUs) is generally considered to be caused by the voltage low frequency oscillation (LFO) of the high-speed railway traction network. As a possible solution, a strategy using single-phase EMUs rectifiers with passivity-based control (PBC) is proposed in this paper. First, the mathematical model of the four-quadrant pulse width modulation rectifier is constructed based on the port controlled Hamiltonian with dissipation. Next, with the insertion of damping, the new energy function can be minimized at the equilibrium point of the system, which enables the derivation of the rectifier control law based on the interconnection and damping assignments PBC. Comparison of simulation results with those of the traditional proportional integral (PI) scheme, autodisturbance rejection control and multivariable control verifies that the proposed PBC controller has better dynamic and static performance. Among all strategies considered, the resulting line current has the least total harmonic distortion, and the dc-link voltage of single-phase EMUs rectifier has the least oscillation and the shortest adjustment time, when using the PBC. Meanwhile, the simulations of multi-EMUs accessed a traction network show that the proposed method significantly suppresses the voltage LFO of the traction network. Finally, the LFO signal modal analysis is performed using the fast Fourier transform and the estimating signal parameters via the rotational invariance techniques. It indicates that PBC can suppress the symmetrical frequency components and effectively reduce the third, fifth, and other harmonic components compared with the PI control in EMUs.",
"container_title": "IEEE Transactions on Power Systems",
"publication_year": "2018",
"volume": "33",
"issue": "4",
"pages": "3909--3918",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"abstract": "A new energy-dissipating hybrid control framework is proposed in this paper. The proposed framework incorporates a plant with continuous dynamics connected in parallel with a hybrid controller that combines logical switches with continuous dynamics. The overall closed-loop system can be described as a hybrid impulsive dynamical system in which the redundant energy preserved in the plant can be damped quickly and continuously due to the enhanced dissipativity of the closed-loop system. The proposed framework is applied to design decentralized nonlinear excitation controllers for synchronous generators in a multimachine system to improve its transient stability, in which the synchronous generators are modeled as port-controlled Hamiltonian systems. Simulation studies on the IEEE 10-generator, 39-bus New England power system are carried out to verify the effectiveness of the proposed energy-dissipating hybrid excitation control to improve the transient stability and dissipativity of the interconnected power system under various fault conditions.",
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"abstract": "This paper proposes an interconnection and damping assignment passivity-based control (IDA-PBC) for multimachine power systems including hydro-turbine governing systems (HTGS) with surge tank. The main objective is to stabilize the rotor speed and regulate the terminal voltage of each synchronous machine in a power system. The proposed control is decentralized, thus avoiding challenges of communication between generators. Passivity theory is used since the open-loop of the HTGS presents a port-Hamiltonian structure. IDA-PBC allows a control law that maintains the passive structure in closed-loop, guaranteeing its asymptotic stability using Lyapunov's theory. The dynamics of each HTGS are described by an eleventh-order model, which can be reduced to a tenth-order. The proposed control is tested in a 12-bus test system and compared to a standard control, which considers a voltage regulator and exciter based on the IEEE type ST1A excitation system model and power system stabilizer IEEE-PSS1A. The governing system based on a PID control with static and transient droop is also employed. Additionally, the proposed controller is compared to a sliding mode controller. Time-domain simulations demonstrate the robustness and appropriate performance of the proposed decentralized control under different large disturbances.",
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"abstract": "In this paper, we present a novel way to approach the interconnection of a continuous and a discrete time physical system first presented in . This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master/slave system on a digital transmission line with varying time delays and possible loss of packets (e.g., the Internet), and in the field of haptics, where the virtual environment should 'feel' like a physical equivalent system.",
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"abstract": "This is a correction to [Duindam and Stramigioli, “Singularity-free dynamic equations of open-chain mechanisms with general holonomic and nonholonomic joints,” IEEE Trans. Robot., vol. 24, no. 3, pp. 527-526, Jun. 2008] where the singularity-free dynamic equations of mechanical systems with Euclidean or non-Euclidean configuration spaces are presented. We present the correct explicit expressions of the equations presented in the above referenced paper.",
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"abstract": "After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels.",
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"abstract": "In this paper, a systematic procedure for the definition of the dynamical model in port-Hamiltonian form of mechanical systems is presented as the result of the power-conserving interconnection of a set of basic components (rigid bodies, flexible links, and kinematic pairs). Since rigid bodies and flexible links are described within the port-Hamiltonian formalism, their interconnection is possible once a proper relation between the power-conjugated port variables is deduced. These relations are the analogous of the Kirchhoff laws of circuit theory. From the analysis of a set of oriented graphs that describe the topology of the mechanism, an automatic procedure for deriving the dynamical model of a mechanical system is illustrated. The final model is a mixed port-Hamiltonian system, because of the presence of a finite-dimensional subsystem (modeling the rigid bodies) and an infinite-dimensional one (describing the flexible links). Besides facilitating the deduction of the dynamical equations, it is shown how the intrinsic modularity of this approach also simplifies the simulation phase.",
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"title": "Modeling Robotic Manipulators Powered by Variable Stiffness Actuators: A Graph-Theoretic and Port-Hamiltonian Formalism",
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{
"given": "Stefan S.",
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"abstract": "This paper proposes a modeling method for generic compliant robotic manipulators. It is based on graph theory and the port-Hamiltonian formalism, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity enables a simple and straight-forward adaption the model when a manipulator's actuator morphology is changed. An example of a spatial three degree-of-freedom manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than the traditional Euler–Lagrange method.",
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"abstract": "Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This motivates the use of machine learning techniques to approximate the robot dynamics over a training set of state-control trajectories. The dynamics of many robots are described in terms of their generalized coordinates on a matrix Lie group, e.g., on $\text{SE}(3)$ for ground, aerial, and underwater vehicles, and generalized velocity, and satisfy conservation of energy principles. This article proposes a port-Hamiltonian formulation over a Lie group of the structure of a neural ordinary differential equation (ODE) network to approximate the robot dynamics. In contrast to a black-box ODE network, our formulation embeds energy conservation principle and Lie group's constraints in the dynamics model and explicitly accounts for energy-dissipation effect such as friction and drag forces in the dynamics model. We develop energy shaping and damping injection control for the learned, potentially under-actuated Hamiltonian dynamics to enable a unified approach for stabilization and trajectory tracking with various robot platforms.",
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"pages": "3695--3715",
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"abstract": "Achieving accurate closed-loop position control of soft robots remains an ongoing research problem, due to the challenges posed by underactuation, elastic nonlinearities, and material creep. Although soft driving technologies relying on tendons and smart material transducers (e.g., dielectric elastomers, shape memory alloys) offer more ease of controllability compared to pneumatics, the corresponding controller design problem becomes even more challenging because of additional nonlinear effects. Those include a configuration-dependent actuation matrix, that stems from the kinematics of the actuation, and control input saturation, which is especially critical for smart material actuators. In this article, we investigate for the first time the closed-loop position control of a soft-robotic system driven by dielectric elastomer actuators. The objective is to regulate the robot state to a constant setpoint, accounting for the effects of open-loop instability, underactuation, control input saturation, and constant external disturbances. To achieve this goal, we propose a model-based feedback scheme, which combines a stabilizing energy-shaping controller with a robustifying PI-like law. After presenting the general theory, a linear matrix inequalities algorithm is proposed to practically address the controller design in spite of strong model nonlinearities. Experimental validation conducted on a prototype of the soft-robotic system confirms the effectiveness of the proposed control approach.",
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"pages": "1693--1710",
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"abstract": "The networked nature of multirobot systems presents challenges in the context of multiagent reinforcement learning. Centralized control policies do not scale with increasing numbers of robots, whereas independent control policies do not exploit the information provided by other robots, exhibiting poor performance in cooperative-competitive tasks. In this work, we propose a physics-informed reinforcement learning approach able to learn distributed multirobot control policies that are both scalable and make use of all the available information to each robot. Our approach has three key characteristics. First, it imposes a port-Hamiltonian structure on the policy representation, respecting energy conservation properties of physical robot systems and the networked nature of robot team interactions. Second, it uses self-attention to ensure a sparse policy representation able to handle time-varying information at each robot from the interaction graph. Third, we present a soft actor–critic reinforcement learning algorithm parameterized by our self-attention port-Hamiltonian control policy, which accounts for the correlation among robots during training while overcoming the need of value function factorization. Extensive simulations in different multirobot scenarios demonstrate the success of the proposed approach, surpassing previous multirobot reinforcement learning solutions in scalability, while achieving similar or superior performance (with averaged cumulative reward up to $\\times {\\text{2}}$ greater than the state-of-the-art with robot teams $\\times {\\text{6}}$ larger than the number of robots at training time). We also validate our approach on multiple real robots in the Georgia Tech Robotarium under imperfect communication, demonstrating zero-shot sim-to-real transfer and scalability across number of robots.",
"container_title": "IEEE Transactions on Robotics",
"publication_year": "2025",
"volume": "41",
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"pages": "4499--4517",
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"created_date": "2025-06-24",
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"abstract": "This article proposes a supplementary controller for inverter based distributed generations (DGs) to damp out the power and frequency oscillations that may occur following the change in the operation mode of Microgrids (MG). The proposed supplementary controller is implemented in synchronous reference frame (SRF) using the port-controlled Hamiltonian modeling strategy. The proposed supplementary controller can be readily integrated into the existing controllers that are commonly used as the main controllers in inverter-based Distributed Generators (DGs). The proposed supplementary controller is designed in such a way that improves the response of DGs during the system oscillations without affecting the steady state reference tracking performance of the DGs. The proposed supplementary controller is able to inject damping to both relative-degree-one (RD1) and higher-relative-degree (HRD) states of the inverters. The effectiveness of the proposed supplementary control for enabling seamless transitions between operation modes of MGs is demonstrated using a set of time domain simulations in a multi-source MG.",
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"abstract": "This paper investigates the consensus problem in a class of multi-agent systems with port-Hamiltonian dynamics, where agents update their states through information exchange with their neighbours to achieve consensus. However, the communication process poses a risk of leaking an agent's exact state to other agents or external eavesdroppers, resulting in a potential privacy breach. To address this issue, we propose a distributed consensus controller designed with privacy protection. With the proposed controller, the interaction among multiple agents only depends on their own estimation to the average output of the whole, thus avoiding explicit state sharing. Additionally, the multi-agent systems maintain the passive characteristic, making the Hamiltonian function a natural choice as the Lyapunov function candidate. Furthermore, we prove that the multi-agent systems converge exponentially to the equilibrium where the outputs of the multi-agent systems achieve consensus, and provide the corresponding convergence rate. Finally, a simulation example is presented to illustrate the effectiveness of the proposed controller.",
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"abstract": "The globally fixed-time stabilization and $H_{\\infty }$ control for the port-Hamiltonian differential algebraic equation (PH-DAE) is addressed by applying the structural properties of the port-Hamiltonian (PH) systems, and the interconnection and damping assignment passivity-based control (IDA-PBC) technique. For fixed-time control design of the differential algebraic equation systems, the main obstacle lies that the algebraic variables are hidden in the system and their dynamics are ambiguous. We propose an available and effective approach to overcome this obstacle. The system variables are decomposed into differential component and the algebraic component, and the explicit representation of the dynamics of algebraic component is obtained. Fist, we investigate the locally fixed-time stabilization control as well as globally attractive for PH-DAE. Second, we focus on solving the globally fixed-time stabilization and $H_{\\infty }$ control problems by jointly taking advantage of the locally fixed-time stabilization control for the origin and the globally fixed-time attractivity control for a predeterminate region. Finally, in order to address fixed-time stabilization control and $H_{\\infty }$ control for PH-DAE, new controllers are designed. Moreover, the convergence time of systems can be easily estimated after external disturbance vanishes. The efficiency of the theoretical results acquired in present article is verified via two examples with numerical simulation.",
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"abstract": "Based on energy-based multiple Lyapunov functions approaches, this article concerns with stabilization and $\\mathcal {H}_{\\infty }$ control for switched uncertain port-controlled Hamiltonian (SUPCH) systems with mode-dependent average dwell time (MDADT) switching. To better deal with the uncertainties of each mode, an improved MDADT scheme along with corresponding constraint conditions is established, and the criterion on globally uniformly asymptotical stability is presented for SUPCH systems in unforced form under the new MDADT mechanism. Subsequently, based on mode-dependent state feedback (MDSF) strategies, the sufficient conditions are derived for stabilization of SUPCH systems. Furthermore, to solve $\\mathcal {H}_{\\infty }$ control problem for SUPCH systems with disturbances, a set of MDSF controllers are constructed, and the $\\mathcal {H}_{\\infty }$ control criterion is obtained by the improved MDADT scheme. Finally, as an application, some simulations on a switched nonlinear RLC circuit system with structural uncertainties are carried out by the proposed control strategies.",
"container_title": "IEEE Transactions on Systems, Man, and Cybernetics: Systems",
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"volume": "54",
"issue": "1",
"pages": "107--118",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"abstract": "This paper proposes a nonlinear supplementary controller for enhancing the transient response of distributed generations (DGs) in micro-grids. The proposed supplementary control system is based on an interconnection and damping assignment passivity-based controller and is designed according to the port-controlled Hamiltonian model of DGs. The controller is applied to the decentralized unified control scheme of DGs that enables seamless transitions between islanded and grid-connected modes. The proposed controller is generic and can be applied to DGs with different types of primary sources. The stability of the proposed supplementary controller is verified analytically, and the performance of the proposed controller is verified in a multi-resource micro-grid via time-domain simulations.",
"container_title": "IEEE Transactions on Sustainable Energy",
"publication_year": "2020",
"volume": "11",
"issue": "1",
"pages": "489--499",
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"title": "Robust Hamiltonian Energy Control Based on Lyapunov Function for Four-Phase Parallel Fuel Cell Boost Converter for DC Microgrid Applications",
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"abstract": "Rapid developments in hydrogen fuel cell (FC) energy and DC microgrid systems have extended the applications of multiphase parallel interleaved step-up converters for stabilizing DC bus voltages. DC microgrid applications include vehicle systems, shipboard power systems, and more electric aircraft, which generate power at low voltage levels. The cascade architecture of a power converter in a DC microgrid may cause large oscillations and imbalance given that converters considered as loads have constant power load characteristics. In this work, output DC bus voltage stabilization and current sharing of a multiphase parallel-interleaved-FC boost converter is presented. The proposed robust controller with added integrator action is based on the Hamiltonian–Lyapunov function. The efficacy and robustness of the designed controller were successfully authenticated by experimental results obtained using a 2.5 kW prototype FC converter (via four-phase parallel-interleaved boost converters) and the dSPACE MicroLabBox platform. The main source of the FC is based on a fuel reformer engine that converts fuel methanol and water into H2 gas in a polymer-electrolyte-membrane-FC stack (50 V, 2.5 kW).",
"container_title": "IEEE Transactions on Sustainable Energy",
"publication_year": "2021",
"volume": "12",
"issue": "3",
"pages": "1500--1511",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
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"permalink": "robust-hamiltonian-energy-control-based-on-lyapunov-function-for-four-phase-parallel-fuel-cell-boost-converter-for-dc-microgrid-applications",
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"title": "Modeling and Control of Multiphase Interleaved Fuel-Cell Boost Converter Based on Hamiltonian Control Theory for Transportation Applications",
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"abstract": "This article presents a multiphase interleaved boost converter supplied by a fuel-cell (FC)/reformer power source for highly dynamic transportation applications. A control theory based on the Hamiltonian function approach is considered. Using the port-controlled Hamiltonian system, we propose simple solutions to the dynamic performance and convergence problems when an interaction occurs between the power sources and constant power loads. To corroborate the proposed control law, an FC boost converter (2.5-kW two-phase interleaved converter) is used and investigated in the laboratory. The methanol FC system is composed of a fuel reformer reactor that transforms water and methanol liquid fuel into hydrogen gas to a polymer electrolyte membrane FC stack (2.5 kW, 50 V). The studied control approach is realized by digital calculation using a MicroLabBox controller board (dSPACE platform). The simulation using the MATLAB/Simulink program and the experimental results validate that our proposed solution is an excellent control algorithm for highly dynamic power-load cycles.",
"container_title": "IEEE Transactions on Transportation Electrification",
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"volume": "6",
"issue": "2",
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"type": "journal-article",
"title": "Port-Hamiltonian Modeling and Control of Electric Vehicle Charging Stations",
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"abstract": "Electric vehicles (EVs) are an important part of future sustainable transportation. The increasing integration of EV charging stations (EVCSs) in the existing power grids requires new scalable control algorithms that maintain the stability and resilience of the grid. Here, we present such a control approach using an averaged port-Hamiltonian (pH) model. In this approach, the underlying switching behavior of the power converters is approximated by an averaged nonlinear system. The averaged models are used to derive various types of stabilizing controllers, including the typically used proportional-integral (PI) controllers. The pH modeling is showcased by means of a generic setup of an EVCS, where the battery of the vehicle is connected to an ac grid via power lines, converters, and filters. Finally, the control design methods are compared for the averaged pH system and validated using a simulation model of the switched charging station.",
"container_title": "IEEE Transactions on Transportation Electrification",
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"volume": "11",
"issue": "1",
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"abstract": "In whole operation procedure, trajectory tracking control for heavy haul train with the time-varying desired speed is investigated in this paper. Taking full advantage of the heavy haul train's facilities, a proportional-integral (PI) control method based on the real-time speed error and the real-time displacement is proposed to represent the dynamic model of heavy haul train as port-Hamiltonian (PH) system framework, which implements the interactive feature of the in-train force and the damping feature of the basic resistance force effectively. Due to the proposed method, the real-time speed of heavy haul train asymptotically tracks the time-varying desired speed and the real-time displacement is small in whole operation procedure. Since the basic resistance force is utilized to construct the non-negative definite matrix and heavy haul train is represented as PH system, the proposed method is also effective for trajectory tracking control of heavy haul train subjected to the uncertain and time-varying basic resistances without parameter adaption or estimation. In short, a universal tracking control scheme is presented for heavy haul train subjected to the aforementioned different operative conditions. Finally, simulations confirm the validity and advantage of the proposed method.",
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"type": "proceedings-article",
"title": "Robust Voltage Regulation for DC Microgrids via Passivity-Based Sliding Mode Control",
"authors": [
{
"given": "Edoardo",
"family": "Vacchini",
"literal": null,
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"affiliation": [
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"name": "University of Pavia,Department of Electrical, Computer and Biomedical Engineering,Pavia,Italy,27100"
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"name": "University of Groningen,Jan C. Willems Center for Systems and Control, Engineering and Technology Institute Groningen (ENTEG), Faculty of Science and Engineering,Groningen,The Netherlands,9747 AG"
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"abstract": "This paper proposes a decentralized sliding mode control approach to the voltage regulation problem in a DC microgrid consisting of distributed generation units interconnected with each other through resistive-inductive power lines and supplying unknown nonlinear loads. In particular, the port-Hamiltonian structure of the system suggests the design of a suitable sliding manifold such that the system on this manifold exhibits desired passivity properties. This approach simplifies the control design and relaxes some restrictive assumptions required by other controllers proposed in the literature, while offering satisfactory performance.",
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"pages": "273--278",
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"title": "Energy-Consistent Super-Twisting Sliding-Mode Control of a Grid-Forming LC Inverter: A Port-Hamiltonian Diagnostic Perspective",
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"abstract": "This paper presents an energy-consistent super-twisting (ST) sliding-mode control design for a single-phase grid-forming inverter with an output LC filter, motivated by inverter-dominated low-inertia power-electronic applications. Throughout, energy-consistent refers to a sliding surface whose closed-loop motion is shaped to avoid large transient excursions of the filter Hamiltonian. The surface couples the voltage error, its integral, and the inductor current, and its design is informed by the port-Hamiltonian (PH) representation of the LC filter; the Hamiltonian is employed as a physically meaningful diagnostic rather than as a strict control structure. A super-twisting reaching law is used to provide continuous control action and finite-time convergence under bounded matched perturbations, with explicit gain conditions stated. An actuator saturation constraint is included in the model and its effect is reported. The proposed controller is benchmarked against a classical first-order SMC with boundary layer on the same sliding surface, isolating the contribution of the ST reaching law. Simulation studies on a grid-forming LC inverter subject to renewable-like disturbances and parameter uncertainties show that the ST controller reduces steady-state tracking error, control chatter, and Hamiltonian variation by a factor of two or more across the tested operating envelope, while the gain-sensitivity coefficient of variation of $\\Delta {\\mathcal{H}}$ stays below 3 over a [0.5,1.5]× nominal gain box.",
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},
"type": "proceedings-article",
"title": "Position control of PMSM based on energy-shaping and MTPA principle",
"authors": [
{
"given": null,
"family": "Haisheng Yu",
"literal": null,
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{
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"family": "Jun Hou",
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{
"given": null,
"family": "Zongwei Zou",
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"container_title": "2008 7th World Congress on Intelligent Control and Automation",
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"issue": "",
"pages": "6532--6536",
"publisher": "IEEE",
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"created_date": "2008-08-13",
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{
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{
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"doi": "10.1109/wcica.2010.5554406"
},
"type": "proceedings-article",
"title": "Estimate of domain of attraction for a class of Port-Controlled Hamiltonian systems subject to both actuator saturation and disturbance",
"authors": [
{
"given": "Airong",
"family": "Wei",
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"given": "Yuzhen",
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"abstract": "This paper investigates the estimate of domain of attraction for a class of nonlinear Port-Controlled Hamiltonian (PCH) systems subject to both actuator saturation and disturbances. Firstly, two conditions are established to determine whether an ellipsoid is contractively invariant for the systems only with actuator saturation, with which the biggest ellipsoid contained in the domain of attraction can be found and a new estimation method is presented. It is shown that the proposed conditions can be expressed in the form of the linear matrix inequality optimization problem with constraints. Secondly, the obtained conditions are extended to estimate the domain of attraction of the systems subject to both actuator saturation and disturbances, and a new estimation method is proposed. Study of an illustrative example shows that the methods proposed in this paper work very well in estimating the domain of attraction for some classes of nonlinear PCH systems with actuator saturation and/or disturbances.",
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"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
{
"identifiers": {
"doi": "10.1137/1.9781611970777"
},
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{
"identifiers": {
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},
{
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},
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},
{
"identifiers": {
"doi": "10.1080/00207170050201762"
},
"citation": "Xi, Z. & Cheng, D. Passivity-based stabilization and H 8 control of the Hamiltonian control systems with dissipation and its applications to power systems. International Journal of Control 73, 1686–1691 (2000)"
},
{
"identifiers": {},
"citation": "wei, Parallel simultaneous stabilization of a set of Port-Controlled Hamiltonian systems subject to actuator saturation. Accepted by Journal of Systems Science and Complexity (2009)"
},
{
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}
]
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"doi": "10.1109/wcica.2010.5554470"
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"type": "proceedings-article",
"title": "L2 gain disturbance attenuation of PMSM based on Hamiltonian systems control theory",
"authors": [
{
"given": "Haisheng",
"family": "Yu",
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{
"given": null,
"family": "Shanshan Yu",
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{
"given": null,
"family": "Jin Liu",
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"given": null,
"family": "Jinpeng Yu",
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"abstract": "A novel L2 gain disturbance attenuation control algorithm is presented for permanent magnet synchronous motor (PMSM) based on port-controlled Hamiltonian (PCH) systems theory. First of all, a PCH system model of PMSM is established. Then, using the interconnection and damping assignment method, the PCH controller of the PMSM system is designed when the load torque is known. According to the maximum torque per ampere (MTPA) control rule, the desired equilibrium of the system is obtained. The L2 gain load torque disturbance attenuation technology is applied to the PCH control of PMSM system. Finally, in order to track the changes of the load torque better and eliminate speed steady error, the load torque observer is given. The simulation results show that the proposed scheme has a good performance and practical application prospects.",
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"publication_year": "2010",
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"issue": "",
"pages": "2502--2506",
"publisher": "IEEE",
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{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
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},
"citation": "Cheng, D. & Spurgeon, S. Stabilization of Hamiltonian systems with dissipation. International Journal of Control 74, 465–473 (2001)"
},
{
"identifiers": {
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},
"citation": "Yuzhen Wang, Daizhan Cheng, Chunwen Li & You Ge. Dissipative hamiltonian realization and energy-based L/sub 2/-disturbance attenuation control of multimachine power systems. IEEE Trans. Automat. Contr. 48, 1428–1433 (2003)"
},
{
"identifiers": {},
"citation": "sun, A direct method of transient stability analysis for controlled power systems based on Hamiltonian theory. Power System Technology (2002)"
},
{
"identifiers": {
"doi": "10.1109/87.960344"
},
"citation": "Petrovic, V., Ortega, R. & Stankovi, A. M. Interconnection and damping assignment approach to control of PM synchronous motors. IEEE Trans. Contr. Syst. Technol. 9, 811–820 (2001)"
},
{
"identifiers": {},
"citation": "yu, Energy-shaping control of PM synchronous motor based on Hamiltonian system theory. The Eighth International Conference on Electrical Machines and Systems (2005)"
},
{
"identifiers": {},
"citation": "yu, Maximum torque per ampere control of PMSM Based on Port-controlled Hamiltonian theory. Proceedings of the CSEE (2006)"
},
{
"identifiers": {},
"citation": "yu, Energy shaping control of PM synchronous motor based on load torque observer. Systems Engineering and Electronics (2006)"
},
{
"identifiers": {
"doi": "10.23919/acc.2004.1383580"
},
"citation": "Delaleau, E. & Stankovic, A. M. Flatness-based hierarchical control of the PM synchronous motor. Proceedings of the 2004 American Control Conference 65–70 vol.1 (2004) doi:10.23919/acc.2004.1383580"
},
{
"identifiers": {},
"citation": "zhang, Feedback linearization control of permanent magnet synchronous motor system. Proceedings of the CSEE (2001)"
},
{
"identifiers": {
"doi": "10.1109/tia.2003.821797"
},
"citation": "Uddin, M. N., Abido, M. A. & Rahman, M. A. Development and Implementation of a Hybrid Intelligent Controller for Interior Permanent-Magnet Synchronous Motor Drives. IEEE Trans. on Ind. Applicat. 40, 68–76 (2004)"
},
{
"identifiers": {},
"citation": "wang, Speed tracking control of permanent magnet synchronous motor with backstepping. Proceedings of the CSEE (2004)"
},
{
"identifiers": {},
"citation": "wang, Differential algebraic observer-bassed nonlinear control of PM synchronous motor. Proceedings of the CSEE (2005)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {},
"citation": "wang, Nonlinear PI speed control of permanent magnet synchronous motor. Proceedings of the CSEE (2005)"
},
{
"identifiers": {},
"citation": "zhang, Variabke structure intelligent control for PMSM drive. Proceedings of the CSEE (2002)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1109/63.867676"
},
"citation": "Petrovic, V., Ortega, R., Stankovic, A. M. & Tadmor, G. Design and implementation of an adaptive controller for torque ripple minimization in PM synchronous motors. IEEE Trans. Power Electron. 15, 871–880 (2000)"
}
]
},
{
"id": "84b2a6b2-34f7-5023-be5d-fdb380fe5118",
"identifiers": {
"doi": "10.1109/wcica.2010.5554810"
},
"type": "proceedings-article",
"title": "Energy-based controller for machine-side converter of doubly-fed wind generator",
"authors": [
{
"given": null,
"family": "Huihui Song",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
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{
"given": null,
"family": "Yanbin Qu",
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"abstract": "A novel energy-based control strategy to determine the switch functions of the machine-side conveter (MSC) in a doubly-fed wind generator is proposed in this paper. From the energy shaping perspective, a port-controlled hamiltonian (PCH) description for the wind energy conversion system (WECS) is obtained. Based on the description and the enegy- matching equation, the proposed switch functions enable us to realize maximum power extraction by tracking equilibrium point in the power optimization stage. This approach possesses the advantages of stable tracking performance and rapid convergence rate. Simulation results via Matlab/Simulink for 2MW WECS with a doubly fed induction generator (DFIG) confirmed its effectiveness.",
"container_title": "2010 8th World Congress on Intelligent Control and Automation",
"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "1402--1407",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2010-08-24",
"permalink": "energy-based-controller-for-machine-side-converter-of-doubly-fed-wind-generator",
"references": [
{
"identifiers": {
"doi": "10.1109/tec.2007.914163"
},
"citation": "Beltran, B., Ahmed-Ali, T. & El Hachemi Benbouzid, M. Sliding Mode Power Control of Variable-Speed Wind Energy Conversion Systems. IEEE Trans. Energy Convers. 23, 551–558 (2008)"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2008.920073"
},
"citation": "Feng Wu, Xiao-Ping Zhang, Ping Ju & Sterling, M. J. H. Decentralized Nonlinear Control of Wind Turbine With Doubly Fed Induction Generator. IEEE Trans. Power Syst. 23, 613–621 (2008)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2004.04.007"
},
"citation": "Jeltsema, D., Ortega, R. & M.A. Scherpen, J. An energy-balancing perspective of interconnection and damping assignment control of nonlinear systems. Automatica 40, 1643–1646 (2004)"
},
{
"identifiers": {
"doi": "10.1080/00207170701813158"
},
"citation": "Monroy, A., Alvarez-Icaza, L. & Espinosa-Pérez, G. Passivity-based control for variable speed constant frequency operation of a DFIG wind turbine. International Journal of Control 81, 1399–1407 (2008)"
},
{
"identifiers": {
"doi": "10.1002/0470012684"
},
"citation": "Wind Power in Power Systems. (2005) doi:10.1002/0470012684"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1260/0309524042886441"
},
"citation": "Hansen, A. D., Sørensen, P., Iov, F. & Blaabjerg, F. Control of Variable Speed Wind Turbines with Doubly-Fed Induction Generators. Wind Engineering 28, 411–432 (2004)"
},
{
"identifiers": {
"doi": "10.1109/2943.999610"
},
"citation": "Müller, S., Deicke, M. & de Doncker, R. W. Doubly Fed Induction Generator Systems for Wind Turbines: A Viable Alternative to Adjust Speed over a Wide Range at Minimal Cost. IEEE Ind. Appl. Mag. 8, 26–33 (2002)"
}
]
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{
"id": "aa8e7c8b-3ac3-5e82-be92-42c1d4ecb219",
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"doi": "10.1109/wcica.2011.5970705"
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"type": "proceedings-article",
"title": "Stable force/position control of a robotic endoscope holder for constrained tasks in nasal surgery",
"authors": [
{
"given": "David",
"family": "Navarro-Alarcon",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Dept. Mechanical and Automation Eng. at The Chinese University of Hong Kong, Hong Kong S.A.R."
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]
}
},
{
"given": "Yunhui",
"family": "Liu",
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"affiliation": [
{
"name": "Dept. Mechanical and Automation Eng. at The Chinese University of Hong Kong, Hong Kong S.A.R."
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{
"given": "Peng",
"family": "Li",
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"affiliation": [
{
"name": "Dept. Mechanical and Automation Eng. at The Chinese University of Hong Kong, Hong Kong S.A.R."
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"abstract": "In this paper we employ passivity-based control techniques to guarantee the stable manipulation of a constrained robotic endoscope holder. The system's modelling and the control synthesis are realised under the port-Hamiltonian formulation. Where a desired form of the closed-loop energy is enforced such that its local equilibrium implies the application of the desired force to the environment (patient's nostril), while regulating the endoscope unconstrained position and orientation inside the nasal cavity. This allows to set a specific energetic relation between the controlled robot and the environment, which in turn means a safer interaction with the tissue. Simulation and experimental results are presented to validate the theoretical concepts.",
"container_title": "2011 9th World Congress on Intelligent Control and Automation",
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"issue": "",
"pages": "1195--1200",
"publisher": "IEEE",
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"created_date": "2011-10-12",
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"references": [
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{
"identifiers": {
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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{
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{
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{
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{
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{
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{
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{
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{
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"identifiers": {
"doi": "10.1109/wcica.2012.6358163"
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"type": "proceedings-article",
"title": "Adaptive simultaneous stabilization of two Port-Controlled Hamiltonian systems subject to actuator saturation",
"authors": [
{
"given": "Airong",
"family": "Wei",
"literal": null,
"source_fields": {
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"affiliation": []
}
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{
"given": "Yuzhen",
"family": "Wang",
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{
"given": "Xiaoming",
"family": "Hu",
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"abstract": "This paper investigates the adaptive parallel simultaneous stabilization (APSS) of two multi-input nonlinear Port-Controlled Hamiltonian (PCH) systems subject to actuator saturation, and proposes a number of results on the design of the APSS controllers. Using both the dissipative Hamiltonian structural and saturated actuator properties, the two systems are combined to generate an augmented PCH system subject to actuator saturation, with which some results on the control designs are then obtained. Study of an illustrative example with simulations shows that the APSS controller obtained in this paper is effective.",
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"issue": "",
"pages": "1767--1772",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2012-12-01",
"permalink": "adaptive-simultaneous-stabilization-of-two-port-controlled-hamiltonian-systems-subject-to-actuator-saturation",
"references": [
{
"identifiers": {
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
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{
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{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00209-6"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2005.02.005"
},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tfuzz.2002.806317"
},
"citation": "Yong-Yan Cao & Zongli Lin. Robust stability analysis and fuzzy-scheduling control for nonlinear systems subject to actuator saturation. IEEE Trans. Fuzzy Syst. 11, 57–67 (2003)"
},
{
"identifiers": {
"doi": "10.1111/j.1934-6093.2003.tb00105.x"
},
"citation": "Shen, T., Ortega, R., Lu, Q., Mei, S. & Tamura, K. Adaptive L2 Disturbance Attenuation Of Hamiltonian Systems With Parametric Perturbation And Application To Power Systems. Asian Journal of Control 5, 143–152 (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2006.03.014"
},
"citation": "Wang, Y., Feng, G., Cheng, D. & Liu, Y. Adaptive L2 disturbance attenuation control of multi-machine power systems with SMES units. Automatica 42, 1121–1132 (2006)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(03)00132-8"
},
"citation": "Wang, Y., Li, C. & Cheng, D. Generalized Hamiltonian realization of time-invariant nonlinear systems. Automatica 39, 1437–1443 (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
{
"identifiers": {
"doi": "10.1109/acc.2007.4282930"
},
"citation": "Stoorvogel, A. A., Saberi, A. & Weiland, S. On external semi-global stochastic stabilization of linear systems with input saturation. 2007 American Control Conference 5845–5850 (2007) doi:10.1109/acc.2007.4282930"
},
{
"identifiers": {
"doi": "10.1080/00207170050201762"
},
"citation": "Xi, Z. & Cheng, D. Passivity-based stabilization and H 8 control of the Hamiltonian control systems with dissipation and its applications to power systems. International Journal of Control 73, 1686–1691 (2000)"
}
]
},
{
"id": "78f36d87-3519-53a5-a555-42c8baf58348",
"identifiers": {
"doi": "10.1109/wcica.2012.6358355"
},
"type": "proceedings-article",
"title": "Energy-shaping and passivity-based control of three-phase PWM rectifiers",
"authors": [
{
"given": "Haisheng",
"family": "Yu",
"literal": null,
"source_fields": {
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"affiliation": []
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{
"given": "Zhaobo",
"family": "Teng",
"literal": null,
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}
},
{
"given": "Jinpeng",
"family": "Yu",
"literal": null,
"source_fields": {
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{
"given": "Yuanqiang",
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"abstract": "Applying energy-shaping control principle and the state error port-controlled Hamiltonian (PCH) system, output voltage tracking control and unity power factor regulation of three-phase Pulse Width Modulation (PWM) rectifiers are presented in this paper. A desired state error PCH system structure is assigned to closed-loop control system for the three-phase PWM rectifiers. The desired Hamiltonian function is given based on the energy-shaping theory. The controller is designed through interconnection and damping assignment method. Moreover, a proportional integral (PI) regulation is used to eliminate the steady-state error of the output dc voltage. The simulation results show that the proposed control method has good output voltage tracking control and unity power factor regulation performances.",
"container_title": "Proceedings of the 10th World Congress on Intelligent Control and Automation",
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"issue": "",
"pages": "2844--2848",
"publisher": "IEEE",
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"references": [
{
"identifiers": {},
"citation": "xu, Modeling and Control of Power Electronic Equipments System (2005)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
"citation": "yu, Mtpa control of pmsm based on port-controlled hamiltonian theory. Proceedings of the CESS (2006)"
},
{
"identifiers": {
"doi": "10.1109/28.845058"
},
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},
{
"identifiers": {
"doi": "10.1109/28.464511"
},
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},
{
"identifiers": {
"doi": "10.1016/j.cnsns.2008.02.005"
},
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},
{
"identifiers": {
"doi": "10.1109/tie.2004.831753"
},
"citation": "Lee, T.-S. Lagrangian Modeling and Passivity-Based Control of Three-Phase AC/DC Voltage-Source Converters. IEEE Trans. Ind. Electron. 51, 892–902 (2004)"
},
{
"identifiers": {},
"citation": "wessels, Limitations of voltage-oriented PI current control of grid-connected pwm rectifiers with filters. IEEE Transactions on Industrial Electronics (2009)"
},
{
"identifiers": {
"doi": "10.1109/41.720325"
},
"citation": "Kazmierkowski, M. P. & Malesani, L. Current control techniques for three-phase voltage-source PWM converters: a survey. IEEE Trans. Ind. Electron. 45, 691–703 (1998)"
},
{
"identifiers": {},
"citation": "zhang, PWM rectifier and its control (0)"
},
{
"identifiers": {
"doi": "10.1109/tie.2005.843918"
},
"citation": "Cecati, C., Dell’Aquila, A., Lecci, A. & Liserre, M. Implementation Issues of a Fuzzy-Logic-Based Three-Phase Active Rectifier Employing Only Voltage Sensors. IEEE Trans. Ind. Electron. 52, 378–385 (2005)"
},
{
"identifiers": {},
"citation": "yu, Computer control technology (0)"
},
{
"identifiers": {},
"citation": "antoniewicz, Predictive direct power control of three-phase boost rectifier. Bulletin of the Polish Academy of Sciences (2006)"
},
{
"identifiers": {
"doi": "10.1109/tie.2004.825278"
},
"citation": "Malinowski, M., Jasinski, M. & Kazmierkowski, M. P. Simple Direct Power Control of Three-Phase PWM Rectifier Using Space-Vector Modulation (DPC-SVM). IEEE Trans. Ind. Electron. 51, 447–454 (2004)"
},
{
"identifiers": {
"doi": "10.1109/tia.2009.2036674"
},
"citation": "Roiu, D., Bojoi, R. I., Limongi, L. R. & Tenconi, A. New Stationary Frame Control Scheme for Three-Phase PWM Rectifiers Under Unbalanced Voltage Dips Conditions. IEEE Trans. on Ind. Applicat. 46, 268–277 (2010)"
},
{
"identifiers": {},
"citation": "pedro, Designand comparison of state-feedback and predictive-integral current controllers for active and reactive power control in renewable energy systems. Control Engi Practice (2009)"
},
{
"identifiers": {
"doi": "10.1016/j.enconman.2010.05.010"
},
"citation": "Bouafia, A., Gaubert, J.-P. & Krim, F. Design and implementation of predictive current control of three-phase PWM rectifier using space-vector modulation (SVM). Energy Conversion and Management 51, 2473–2481 (2010)"
}
]
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{
"id": "be4de394-95ce-5823-b6f3-bb6aa8a19869",
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"doi": "10.1109/wcica.2014.7053426"
},
"type": "proceedings-article",
"title": "Interconnection and damping assignment passivity-based control for flexible joint robot",
"authors": [
{
"given": "Qi",
"family": "Zhang",
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{
"given": "Zongwu",
"family": "Xie",
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{
"given": "Sun",
"family": "Kui",
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},
{
"given": "Haitao",
"family": "Yang",
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{
"given": "Jin",
"family": "Minghe",
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"given": "Hegao",
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"abstract": "This paper presents an interconnection and damping assignment passivity based control (IDA-PBC) for the position and impedance control of flexible joint robot. In considering of the joint damping and with some simplification of friction, a flexible joint robot system is descripted as an port-controlled Hamiltonian system with dissipation(PCHD). Then, giving a desired Hamiltonian function which both shapes potential and kinetic energies, the control laws of position control and impedance control is derived by the algebraic IDA-PBC method, which preserves the PCHD structure of the close-loop system. Comparing with the traditional passivity based control (PBC), the proposed method gives a new explanation of the control of flexible joint robot by introducing the self-damping and cross-damping terms, which make the gain selecting procedure more intuitive and comfortable. Simulation and experiments are done to verify the proposed controller, and the results shows a promising performance both in position and impedance control.",
"container_title": "Proceeding of the 11th World Congress on Intelligent Control and Automation",
"publication_year": "2014",
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"issue": "",
"pages": "4242--4249",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2015-03-10",
"permalink": "interconnection-and-damping-assignment-passivity-based-control-for-flexible-joint-robot",
"references": [
{
"identifiers": {},
"citation": "van der schaft, Port-controlled Hamiltonian systems: towards a theory for control and design of nonlinear physical systems. Journal of the Society of Instrument and Control Engineers of Japan (SICE) (2000)"
},
{
"identifiers": {
"doi": "10.1109/tro.2008.915438"
},
"citation": "Ott, C., Albu-Schaffer, A., Kugi, A. & Hirzinger, G. On the Passivity-Based Impedance Control of Flexible Joint Robots. IEEE Trans. Robot. 24, 416–429 (2008)"
},
{
"identifiers": {
"doi": "10.1109/robot.2004.1307463"
},
"citation": "Albu-Schaffer, A., Ott, C. & Hirzinger, G. A passivity based Cartesian impedance controller for flexible joint robots - part II: full state feedback, impedance design and experiments. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA ’04. 2004 2666-2672 Vol.3 (2004) doi:10.1109/robot.2004.1307463"
},
{
"identifiers": {
"doi": "10.1109/robio.2012.6490938"
},
"citation": "Liu, Y., Xie, Z., Zhang, Q. & Wang, B. HIT-ARM I high speed dexterous robot arm. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) 26–29 (2012) doi:10.1109/robio.2012.6490938"
},
{
"identifiers": {
"doi": "10.1109/tie.2007.898302"
},
"citation": "Naouar, M.-W., Monmasson, E., Naassani, A. A., Slama-Belkhodja, I. & Patin, N. FPGA-Based Current Controllers for AC Machine Drives—A Review. IEEE Trans. Ind. Electron. 54, 1907–1925 (2007)"
},
{
"identifiers": {
"doi": "10.1109/icma.2012.6283405"
},
"citation": "Zhang, Q., Xie, Z., Ni, F., Cai, H. & Liu, H. A high performance FPGA-based joint controller with hardware/software co-design method. 2012 IEEE International Conference on Mechatronics and Automation 1109–1114 (2012) doi:10.1109/icma.2012.6283405"
},
{
"identifiers": {
"doi": "10.1109/9.293181"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1108/01439910710774386"
},
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},
{
"identifiers": {
"doi": "10.1109/tac.2002.800770"
},
"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
},
{
"identifiers": {
"doi": "10.1109/9.90238"
},
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},
{
"identifiers": {
"doi": "10.1109/tac.2005.860292"
},
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},
{
"identifiers": {
"doi": "10.1080/00207179.2012.660734"
},
"citation": "Ortega, R., Liu, Z. & Su, H. Control via interconnection and damping assignment of linear time-invariant systems: a tutorial. International Journal of Control 85, 603–611 (2012)"
},
{
"identifiers": {
"doi": "10.1007/978-3-642-19457-3_12"
},
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},
{
"identifiers": {
"doi": "10.1177/0278364907073776"
},
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},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
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}
]
},
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"identifiers": {
"doi": "10.1109/wipda-asia63772.2025.11183928"
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"type": "proceedings-article",
"title": "Control Strategy of Dual Phase Shifting Dual Active Bridge Converter Based on BM",
"authors": [
{
"given": "Yiting",
"family": "Huo",
"literal": null,
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"sequence": "first",
"affiliation": [
{
"name": "Beijing Information Science & Technology University,School of Automation,Beijing,China"
}
]
}
},
{
"given": "Yajing",
"family": "Zhang",
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"affiliation": [
{
"name": "Beijing Information Science & Technology University,School of Automation,Beijing,China"
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{
"given": "Bin",
"family": "Liu",
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"affiliation": [
{
"name": "State Grid Economic and Technological Research Institute Co,Beijing,China"
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{
"given": "Baoying",
"family": "Huang",
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"affiliation": [
{
"name": "State Grid Economic and Technological Research Institute Co,Beijing,China"
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}
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{
"given": "Siyu",
"family": "Pan",
"literal": null,
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"affiliation": [
{
"name": "State Grid Economic and Technological Research Institute Co,Beijing,China"
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}
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{
"given": "Hao",
"family": "Ma",
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"name": "Beijing Information Science & Technology University,School of Automation,Beijing,China"
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"abstract": "Dual Active Bridge (DAB) converters are pivotal in renewable energy, electric vehicles, and energy storage systems due to bidirectional power transfer, galvanic isolation, and zero-voltage switching capabilities. While Silicon Carbide (SiC) devices enhance efficiency through reduced conduction losses and high-frequency operation, conventional SinglePhase-Shift (SPS) control under non-unity voltage ratios induces excessive circulating power and current stress, degrading system efficiency and reliability. The Brayton-Moser (BM) form provides a powerful nonlinear control method through energy-based port Hamiltonian system modeling. To address the aforementioned issues, this study proposes an enhanced Brayton-Moser theory-based nonlinear control strategy integrated with Dual-Phase-Shift (DPS) modulation and minimum circulating power optimization. To enhance system performance under passive conditions and optimize efficiency, a Brayton-Moser theory-guided DAB-based DC power conversion system has been architected and experimentally substantiated via simulation platforms.",
"container_title": "2025 IEEE Workshop on Wide Bandgap Power Devices and Applications in Asia (WiPDA Asia)",
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"issue": "",
"pages": "1--6",
"publisher": "IEEE",
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"keywords": [],
"created_date": "2025-10-07",
"permalink": "control-strategy-of-dual-phase-shifting-dual-active-bridge-converter-based-on-bm",
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{
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"doi": "10.1109/icaice63571.2024.10864258"
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{
"identifiers": {
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},
"citation": "Panchbhai A, Chilkalpudi G, Kumar A (2023) Analysis of Circulating Power in Triple Active Bridge Converter: Impact of SPS and DPS Control. 2023 IEEE International Conference on Power Electronics, Smart Grid, and Renewable Energy (PESGRE) 1–"
},
{
"identifiers": {
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},
"citation": "Kim JJ, Park J-H, Sabri S, Fetzer B, Hull B, Ryu S-H (2024) Investigation into Relationship of the Switching Performance and Short-Circuit Withstand Time on 1.2 kV 4H-SiC Power MOSFETs. 2024 36th International Symposium on Power Semiconductor Devices and ICs (ISPSD) 148–15"
},
{
"identifiers": {
"doi": "10.1109/pedes49360.2020.9379518"
},
"citation": "Chaurasiya S, Singh B (2020) A Load Adaptive DPS Control for DAB with Reduced Current Stress for Wide Load and Voltage Range. 2020 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES) 1–"
},
{
"identifiers": {
"doi": "10.1109/peas58692.2023.10395230"
},
"citation": "Fang S, Dai P, Liu S (2023) A Hybrid Modulation for Multilevel DAB Converter Based on Asymmetrical Duty Modulation. 2023 IEEE 2nd International Power Electronics and Application Symposium (PEAS) 68–7"
},
{
"identifiers": {
"doi": "10.1109/ipemc-ecceasia60879.2024.10567816"
},
"citation": "Huang S, Xing J, Wang N, Song F (2024) TPS-MPC Method with Backflow Power Optimization for Series Resonant DAB Converter. 2024 IEEE 10th International Power Electronics and Motion Control Conference (IPEMC2024-ECCE Asia) 2356–235"
},
{
"identifiers": {
"doi": "10.1109/icems56177.2022.9983090"
},
"citation": "Park S-H, Kim I-D, Song S-M, Kim J (2022) Design of Battery Charger and Discharger using Series-input and Parallel-output connected DAB Converter. 2022 25th International Conference on Electrical Machines and Systems (ICEMS) 1–"
},
{
"identifiers": {
"doi": "10.1109/peas58692.2023.10395051"
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"citation": "Chen Z, Zhang Z, Sun X, Li Z, Liu X (2023) An Optimized Return Power Control for DAB Converter Cluster with ISOP Configuration. 2023 IEEE 2nd International Power Electronics and Application Symposium (PEAS) 321–32"
},
{
"identifiers": {
"doi": "10.1109/ecce55643.2024.10860939"
},
"citation": "Zhang M, Zou H, Farzamkia S, Chen C, Huang AQ (2024) Three Phase High-Frequency-Link-Y-Configuration AC-DC DAB Converter with Monolithic Bidirectional GaN Switch. 2024 IEEE Energy Conversion Congress and Exposition (ECCE) 1130–113"
},
{
"identifiers": {
"doi": "10.1109/tpel.2009.2021421"
},
"citation": "Zhou H, Khambadkone AM, Kong X (2009) Passivity-Based Control for an Interleaved Current-Fed Full-Bridge Converter With a Wide Operating Range Using the Brayton–Moser Form. IEEE Trans Power Electron 24(9):2047–2056. https://doi.org/10.1109/tpel.2009.202142"
},
{
"identifiers": {
"doi": "10.1016/j.epsr.2022.108963"
},
"citation": "Shair J, Xie X, Li H, Zhao W, Liu W (2023) A grid-side multi-modal adaptive damping control of super-/sub-synchronous oscillations in type-4 wind farms connected to weak AC grid. Electric Power Systems Research 215:108963. https://doi.org/10.1016/j.epsr.2022.10896"
},
{
"identifiers": {
"doi": "10.24295/cpsstpea.2021.00004"
},
"citation": "Shipra K (2021) Brayton-Moser Passivity Based Controller for Electric Vehicle Battery Charger. CPSS TPEA 6(1):40–51. https://doi.org/10.24295/cpsstpea.2021.0000"
},
{
"identifiers": {
"doi": "10.1109/repe59476.2023.10512270"
},
"citation": "Yumin F, Jianguo L, Yajing Z, Jiuhe W (2023) Power Shaping Control of Single-Phase Grid-Connected Converter Based on Brayton-Moser Model. 2023 6th International Conference on Renewable Energy and Power Engineering (REPE) 12–1"
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{
"identifiers": {
"doi": "10.1109/tsg.2023.3262166"
},
"citation": "Wu Z, Han H, Liu Z, Su M, Sun Y, Zhang X, Wang P (2023) A Novel Method for Estimating the Region of Attraction for DC Microgrids via Brayton-Moser’s Mixed Potential Theory. IEEE Trans Smart Grid 14(4):3313–3316. https://doi.org/10.1109/tsg.2023.326216"
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{
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"doi": "10.1109/iecon51785.2023.10311642"
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"citation": "Ma H, Zhang Y-J, Li J-G, Wang J-H (2023) Control Strategy of DAB Converter Based on Brayton-Moser Model. IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society 1–"
}
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"doi": "10.1112/jlms.70472"
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"type": "journal-article",
"title": "A universal example for quantitative semi‐uniform stability",
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{
"given": "Sahiba",
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"ORCID": "https://orcid.org/0000-0003-1973-8358",
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"name": "Department of Applied Mathematics University of Twente Enschede The Netherlands"
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"given": "Felix L.",
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"name": "Mathematics Department University of Salzburg Salzburg Austria"
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"abstract": "We characterise quantitative semi‐uniform stability for ‐semigroups arising from port‐Hamiltonian systems, complementing recent works on exponential and strong stability. With the result, we present a simple universal example class of port‐Hamiltonian ‐semigroups exhibiting arbitrary decay rates slower than . The latter is based on results from the theory of Diophantine approximation as the decay rates will be strongly related to approximation properties of irrational numbers by rationals given through cut‐offs of continued fraction expansions.",
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"publication_year": "2026",
"volume": "113",
"issue": "2",
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"publisher": "Wiley",
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{
"identifiers": {
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{
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{
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{
"identifiers": {
"doi": "10.1007/s00028-008-0424-1"
},
"citation": "{\"status\":\"error\""
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{
"identifiers": {
"doi": "10.1007/s00208-009-0439-0"
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{
"identifiers": {
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{
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{
"identifiers": {
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"abstract": "In this paper, we construct a highly simplified mathematical model for studying the problem of conjugate heat transfer in gas turbine blades and their cooling ducts. Our simple model focuses on the relevant coupling structures and aims to reduce the unrelated complexity as much as possible. Then, we apply the port-Hamiltonian formalism to this model and its subsystems and investigate the interconnections. Finally, we apply a simple spatial discretization to the system to investigate the properties of the resulting finite-dimensional port-Hamiltonian system and to determine whether the order of coupling and discretization affect the resulting semi-discrete system.",
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"type": "journal-article",
"title": "Modeling of Systems With Position-Dependent Mass Revisited: A Port-Hamiltonian Approach",
"authors": [
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"given": "Dimitri",
"family": "Jeltsema",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Delft Institute of Applied Mathematics, Delft University of Technology, 2628 CD Delft, The Netherlands"
}
]
}
},
{
"given": "Arnau",
"family": "Dòria-Cerezo",
"literal": null,
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"affiliation": [
{
"name": "Department Electrical Engineering and Institute of Industrial and Control Engineering, Universitat Politecnica de Catalunya, 08800 Vilanova i la Geltrú, Spain"
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"abstract": "It is known that straightforward application of the classical Lagrangian and Hamiltonian formalism to systems with mass varying explicitly with position may lead to discrepancies in the formulation of the equations of motion. Systems with mass varying explicitly with position often arise from situations where the partitioning of a closed system of constant mass leads to open subsystems that exchange mass among themselves. One possible solution is to introduce additional nonconservative generalized forces that account for these effects. However, it remains unclear how to systematically interconnect the Lagrangian or Hamiltonian subsystems. In this note, systems with mass varying explicitly with position and their properties are studied in the port-Hamiltonian modeling framework. The port-Hamiltonian formalism combines the classical Lagrangian and Hamiltonian approach with network modeling and is applicable to various engineering domains. One of the strong aspects of the port-Hamiltonian formalism is that power-preserving interconnections between port-Hamiltonian subsystems results in another port-Hamiltonian system with composite energy and interconnection structure. The motion of a heavy cable being deployed from a reel by the action of gravity is used as an example.",
"container_title": "Journal of Applied Mechanics",
"publication_year": "2011",
"volume": "78",
"issue": "6",
"pages": "",
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"type": "journal-article",
"title": "Damping Injection by Reset Control",
"authors": [
{
"given": "Cesáreo",
"family": "Raimúndez",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Antonio",
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"literal": null,
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"sequence": "additional",
"affiliation": [
{
"name": "Nonlinear Control Group, Department of Systems & Control Engineering, University of Vigo, Vigo, Spain 36310"
}
]
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{
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"affiliation": [
{
"name": "(Bio)Process Engineering Group, Department of Food Technology, IIM-CSIC, Vigo, Spain 36208e-mail:"
}
]
}
}
],
"abstract": "This paper presents a method for using reset control as an alternative way of obtaining dissipation for a class of port-Hamiltonian systems. One advantage of this approach is the simplicity of its implementation, which requires only a velocity observer. Another advantage is its robustness to modeling uncertainties, since it can be calculated independently of the plant structure. A gantry crane is selected as case study, yielding simulation and experimental results that show the good performance of this technique.",
"container_title": "Journal of Dynamic Systems, Measurement, and Control",
"publication_year": "2012",
"volume": "134",
"issue": "2",
"pages": "",
"publisher": "ASME International",
"event": "",
"keywords": [],
"created_date": "2011-12-30",
"permalink": "damping-injection-by-reset-control",
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},
{
"id": "4132f402-f1b0-5a9d-934c-226fb0929c56",
"identifiers": {
"doi": "10.1115/dscc2010-4111"
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"type": "proceedings-article",
"title": "Dynamic Security Analysis of Electric Power Systems: Passivity-Based Approach and Positive Invariance Approach",
"authors": [
{
"given": "Qing",
"family": "Hui",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Texas Tech University, Lubbock, TX"
}
]
}
},
{
"given": "Jinglai",
"family": "Shen",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "University of Maryland Baltimore County, Baltimore, MD"
}
]
}
},
{
"given": "Wei",
"family": "Qiao",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "University of Nebraska-Lincoln, Lincoln, NE"
}
]
}
}
],
"abstract": "Security is a critical issue in modern power system operation. With the aid of analytic tools for large-scale and hybrid systems, this paper proposes two new safety verification methods for power systems. The first method is based on barrier certificates and passivity. This method provides a general safety verification framework for power systems with the port-Hamiltonian structure. The energy shaping technique is also exploited to attain safety conditions for controlled port-Hamiltonian systems. The second method, based on positive invariance, yields exact safety verification for power systems based on linearized models, particularly linear Hamiltonian systems. Decidability of exact safety verification is established via algebraic and positive invariance approaches; other analytic and numerical issues are addressed from the positive invariance perspective.",
"container_title": "ASME 2010 Dynamic Systems and Control Conference, Volume 2",
"publication_year": "2010",
"volume": "",
"issue": "",
"pages": "193--200",
"publisher": "ASMEDC",
"event": "",
"keywords": [],
"created_date": "2011-02-19",
"permalink": "dynamic-security-analysis-of-electric-power-systems-passivity-based-approach-and-positive-invariance-approach",
"references": []
},
{
"id": "503fc28f-4d91-5911-8310-95e75f7ef1fc",
"identifiers": {
"doi": "10.1115/dscc2011-6022"
},
"type": "proceedings-article",
"title": "From Canonical Hamiltonian to Port-Hamiltonian Modeling: Application to Magnetic Shape Memory Alloys Actuators",
"authors": [
{
"given": "Nandish",
"family": "Calchand",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "FEMTO-ST Institute, Besanc¸on, France"
}
]
}
},
{
"given": "Arnaud",
"family": "Hubert",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "FEMTO-ST Institute, Besanc¸on, France"
}
]
}
},
{
"given": "Yann",
"family": "Le Gorrec",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "FEMTO-ST Institute, Besanc¸on, France"
}
]
}
},
{
"given": "Bernhard",
"family": "Maschke",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Universite´ Claude Bernard Lyon, Villeurbanne, France"
}
]
}
}
],
"abstract": "This paper presents the modelling of an actuator based on Magnetic Shape Memory Alloys (MSMA). The actuation principle relies on the ability of the material to change its shape under the application of a magnetic field. Previous models proposed by authors were based on canonical (symplectic) Hamiltonian modeling and thermodynamics of irreversible processes. These models, though physically cogent, are non-minimal differential algebraic dynamical models and hence less adapted for control purposes. This paper therefore proposes a modified and system-oriented modeling procedure which lends itself naturally to a port-Hamiltonian model. The latter is found to be a minimal realization of the above whereby interconnection between subsystems is clearly visible. Using Lagrange multipliers, constraints which arise due to causality and interconnection are expressed. In the last section, Differential Algebraic Equations (DAE) resulting from previous models are reduced to Ordinary Differential Equations (ODE) and by using coordinate transformations, constraints are decoupled from the system input/output. The resulting model is well-suited for control.",
"container_title": "ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2",
"publication_year": "2011",
"volume": "",
"issue": "",
"pages": "17--24",
"publisher": "ASMEDC",
"event": "",
"keywords": [],
"created_date": "2012-05-08",
"permalink": "from-canonical-hamiltonian-to-port-hamiltonian-modeling-application-to-magnetic-shape-memory-alloys-actuators",
"references": []
},
{
"id": "68e8b71c-6828-5bdf-b578-c2e1f4f9aca6",
"identifiers": {
"doi": "10.1115/icone24-60274"
},
"type": "proceedings-article",
"title": "Water Level Control for Steam Generator in Nuclear Power Based on Port-Controlled Hamiltonian Method",
"authors": [
{
"given": "Mo",
"family": "Tao",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Wuhan Second Ship Des. & Res. Ins., Wuhan, China"
}
]
}
},
{
"given": "Rui",
"family": "Yu",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Wuhan Second Ship Des. & Res. Ins., Wuhan, China"
}
]
}
},
{
"given": "Xianling",
"family": "Li",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Wuhan Second Ship Des. & Res. Ins., Wuhan, China"
}
]
}
},
{
"given": "Zhiwu",
"family": "Ke",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Wuhan Second Ship Des. & Res. Ins., Wuhan, China"
}
]
}
},
{
"given": "Zhenxing",
"family": "Zhao",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Wuhan Second Ship Des. & Res. Ins., Wuhan, China"
}
]
}
},
{
"given": "Qi",
"family": "Xiao",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Wuhan Second Ship Des. & Res. Ins., Wuhan, China"
}
]
}
}
],
"abstract": "This article designs the water level of steam generator control system applying PCH system modeling and control principle of Energy-Shaping. The basic principles of port-controlled Hamiltonian (PCH) system modeling and control principle of Energy-Shaping are provided, including passivity, dissipation and so forth. Meanwhile, port-controlled Hamiltonian (PCH) system, energy-shaping principle, matching method and its corresponding realization and stability analysis are presented. The water level of steam generator is accomplished; the controlled object is mathematically modeled with principle modeling method. Then the mathematic model is translated into PCH model. the proper Hamiltonian function is finely selected. The water level equilibrium point of steam generator system is respectively determined; the PCH controller based on energy-shaping method is ultimately obtained. The proposed modeling and control methods provide a potential idea for the other control methods applied method on steam generator system. Moreover, the proposed methods can be put into industrious process control.",
"container_title": "Volume 1: Operations and Maintenance, Aging Management and Plant Upgrades; Nuclear Fuel, Fuel Cycle, Reactor Physics and Transport Theory; Plant Systems, Structures, Components and Materials; I&C, Digital Controls, and Influence of Human Factors",
"publication_year": "2016",
"volume": "",
"issue": "",
"pages": "",
"publisher": "American Society of Mechanical Engineers",
"event": "",
"keywords": [],
"created_date": "2016-10-25",
"permalink": "water-level-control-for-steam-generator-in-nuclear-power-based-on-port-controlled-hamiltonian-method",
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{
"id": "dc5fd0c3-71f0-5f67-bcce-52a99b385cf8",
"identifiers": {
"doi": "10.1115/imece2003-42461"
},
"type": "proceedings-article",
"title": "A Port-Controlled Hamiltonian Approach to Control of an Electrostatic MEMS Actuator",
"authors": [
{
"given": "D. H. S.",
"family": "Maithripala",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Texas Tech University, Lubbock, TX"
}
]
}
},
{
"given": "Jordan M.",
"family": "Berg",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Texas Tech University, Lubbock, TX"
}
]
}
},
{
"given": "W. P.",
"family": "Dayawansa",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Texas Tech University, Lubbock, TX"
}
]
}
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"abstract": "While mechanical, electrical and electromechanical systems may exhibit complex nonlinear dynamics, their behavior is typically governed by relatively simple underlying principles of energy transfer. Modeling methodologies that seek to capture this underlying order give rise to a special form of the equations of motion, called a port controlled Hamiltonian structure with damping (PCHD). Often the natural behavior of a system is unacceptable for a desired application, and must be modified. A body of work on passivity-based control exists that shows how to use Casimir functions—certain invariant quantities of the open-loop PCHD—to reshape the natural dynamics in a desired way. We seek to apply this approach to an electrostatically-actuated MEMS device subject to the saddle-node bifurcation known as snap-through. We show that the equations describing this system do not have an appropriate Casimir function, but that they can be suitably modified through an implementable output feedback. We fully characterize the Casimirs of the modified system, and show how they may be used to eliminate snap-through. Unfortunately the transient behavior of the resulting closed-loop system is governed by the damping of the mechanical subsystem, which may or may not provide adequate performance.",
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"abstract": "To address the difficulty of obtaining accurate dynamics matrices for underactuated unmanned surface vehicles (USVs) and the structural inconsistency of conventional black-box data-driven models, this paper proposes a physics-informed learning and control framework under the Port-Hamiltonian (PH) formulation. A physics informed neural network (PINN) is constructed by embedding PH structural constraints into a Neural ODE architecture, so that the system matrices can be learned while preserving key physical properties, including symmetry, positive definiteness, and dissipativity. Utilizing the extracted dynamic parameters, an interconnection and damping assignment passivity-based control (IDA-PBC) law is synthesized to execute precise USV trajectory tracking. To validate the proposed methodology, a numerical simulation test is conducted. The findings confirm that our network successfully identifies the core physical characteristics, which in turn empowers the controller to track circular references robustly, even in the presence of parameter mismatches.",
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"abstract": "Underactuated mechanical systems (UMSs) present significant challenges in control design due to limited actuation, nonlinear coupling, and susceptibility to unmatched and time-varying disturbances. Traditional passivity-based methods often assume full state availability and matched disturbances, limiting their applicability in uncertain, sensor-constrained environments. This study proposes a learning-augmented interconnection and damping assignment passivity-based control (iIDA–PBC) framework that enhances robustness and adaptability for UMSs. The approach integrates real-time disturbance estimation using Gaussian Math. Comput. Appl. (GPR) and Math. Comput. Appl. (LSTM) networks, alongside nonlinear observer designs for reconstructing unmeasured actuator states. The overall control architecture preserves the port-Hamiltonian structure while enabling adaptive compensation for unknown external perturbations. Theoretical analysis ensures Math. Comput. Appl. (ISS) under bounded estimation errors. Simulation results on a benchmark underactuated system demonstrate improved disturbance rejection, tracking accuracy, and robustness compared to conventional adaptive and passivity-based controllers. The proposed method is suitable for complex, partially observable systems such as aerial vehicles, autonomous robots, and marine platforms.",
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"doi": "10.3390/act12110408"
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"citation": "Liu X, Shao H, Liu C, Li N, Guo X, Zheng F, Sun L (2023) An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System. Actuators 12(11):408. https://doi.org/10.3390/act1211040"
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"doi": "10.1002/rnc.6885"
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"citation": "Franco E (2023) Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances. Intl J Robust & Nonlinear 33(16):10024–10045. https://doi.org/10.1002/rnc.688"
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"doi": "10.1016/j.ifacol.2018.03.032"
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"citation": "Reiss J (2018) Model reduction for convective problems: formulation and application. IFAC-PapersOnLine 51(2):186–189. https://doi.org/10.1016/j.ifacol.2018.03.03"
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"doi": "10.3390/app14104248"
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"citation": "Wang J, Zhou Q, Zheng W, Shao J (2024) Passivity-Based Control with Disturbance Observer of Electromagnetic Formation Flight Spacecraft in the Port-Hamiltonian Framework. Applied Sciences 14(10):4248. https://doi.org/10.3390/app1410424"
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{
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"citation": "M. Le, Acta Autom. Sin. (2021)"
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{
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"doi": "10.1007/978-3-662-43370-6_6"
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"citation": "Kocijan J, Grancharova A (2014) Application of Gaussian Processes to the Modelling and Control in Process Engineering. Studies in Computational Intelligence 155–19"
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"doi": "10.1109/tac.2022.3227927"
},
"citation": "Zucco JPT, Ramirez H, Wu Y, Le Gorrec Y (2023) Linear Matrix Inequality Design of Exponentially Stabilizing Observer-Based State Feedback Port-Hamiltonian Controllers. IEEE Trans Automat Contr 68(10):6184–6191. https://doi.org/10.1109/tac.2022.322792"
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{
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"doi": "10.1049/icp.2024.3503"
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"citation": "Jiang H, Yu H, Jiang J, Tang S, Xie X (2025) An adaptive sampling method for generating boundary scenarios of UAV swarms based on Gaussian process regression. IET Conf Proc 2024(12):499–506. https://doi.org/10.1049/icp.2024.350"
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{
"identifiers": {
"doi": "10.1016/j.arcontrol.2021.03.003"
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"citation": "Kahraman S, Bacher R (2021) A comprehensive review of hyperspectral data fusion with lidar and sar data. Annual Reviews in Control 51:236–253. https://doi.org/10.1016/j.arcontrol.2021.03.00"
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"doi": "10.1109/icit58233.2024.10540837"
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"citation": "Zheng W, Li J, Guo J, Du Y (2024) A Flexible Imitation Learning System Based on the Lyapunov Energy Function of the Neural Networks. 2024 IEEE International Conference on Industrial Technology (ICIT) 1–"
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"type": "journal-article",
"title": "Differential Geometry and Mechanics: A Source for Computer Algebra Problems",
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"given": "V. N.",
"family": "Salnikov",
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"abstract": "Abstract In this paper, we discuss the possibility of using computer algebra tools in the process of modeling and qualitative analysis of mechanical systems and problems from theoretical physics. We describe some constructions—Courant algebroids and Dirac structures—from the so-called generalized geometry. They prove to be a convenient language for studying the internal structure of the differential equations of port-Hamiltonian and implicit Lagrangian systems, which describe dissipative or coupled mechanical systems and systems with constraints, respectively. For both classes of systems, we formulate some open problems that can be solved using computer algebra tools and methods. We also recall the definitions of graded manifolds and Q ‑structures from graded geometry. On particular examples, we explain how classical differential geometry is described in the framework of the graded formalism and what related computational questions can arise. This direction of research is apparently an almost unexplored branch of computer algebra.",
"container_title": "Programming and Computer Software",
"publication_year": "2020",
"volume": "46",
"issue": "2",
"pages": "126--132",
"publisher": "Pleiades Publishing Ltd",
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"created_date": "2020-04-18",
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{
"identifiers": {
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},
"citation": "Courant, T. J. Dirac manifolds. Transactions of the American Mathematical Society vol. 319 631–661 (1990)"
},
{
"identifiers": {
"doi": "10.1016/j.geomphys.2006.02.009"
},
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},
{
"identifiers": {
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},
"citation": "Yoshimura, H. & Marsden, J. E. Dirac structures in Lagrangian mechanics Part II: Variational structures. Journal of Geometry and Physics vol. 57 209–250 (2006)"
},
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"identifiers": {
"doi": "10.1002/zamm.201800218"
},
"citation": "Salnikov, V. & Hamdouni, A. From modelling of systems with constraints to generalized geometry and back to numerics. ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik vol. 99 (2019)"
},
{
"identifiers": {
"doi": "10.1186/s40323-019-0130-2"
},
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},
{
"identifiers": {
"doi": "10.1016/s0016-0032(92)90049-m"
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"citation": "Maschke, B. M., Van Der Schaft, A. J. & Breedveld, P. C. An intrinsic hamiltonian formulation of network dynamics: non-standard poisson structures and gyrators. Journal of the Franklin Institute vol. 329 923–966 (1992)"
},
{
"identifiers": {},
"citation": "van der Schaft, A., Port-Hamiltonian systems: An introductory survey, Proc. Int. Congr. Mathematicians, Madrid, 2006."
},
{
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{
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},
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},
{
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},
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},
{
"identifiers": {},
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{
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},
{
"identifiers": {},
"citation": "Salnikov, V. and Hamdouni, A., Geometric integrators in mechanics: The need for computer algebra tools, Proc. 3rd Int. Conf. Computer Algebra, Moscow, 2019."
},
{
"identifiers": {},
"citation": "Salnikov, V. and Hamdouni, A., Géométrie généralisée et graduée pour la mécanique, Proc. Congrès Français de Mécanique, Brest, France, 2019."
},
{
"identifiers": {},
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{
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},
{
"identifiers": {},
"citation": "Hamdouni, A. and Salnikov, V., Dirac integrators for port-Hamiltonian systems, in prep."
},
{
"identifiers": {},
"citation": "Salnikov, V. and Hamdouni, A., Discretization in the graded world, in prep."
}
]
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"doi": "10.1134/s0361768824020130"
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"type": "journal-article",
"title": "Port-Hamiltonian Systems: Structure Recognition and Applications",
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"given": "V.",
"family": "Salnikov",
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"abstract": "Abstract In this paper, we continue to consider the problem of recovering the port-Hamiltonian structure for an arbitrary system of differential equations. We complement our previous study on this topic by explaining the choice of machine learning algorithms and discussing some details of their application. We also consider the possibility provided by this approach for a potentially new definition of canonical forms and classification of systems of differential equations.",
"container_title": "Programming and Computer Software",
"publication_year": "2024",
"volume": "50",
"issue": "2",
"pages": "197--201",
"publisher": "Pleiades Publishing Ltd",
"event": "",
"keywords": [
"geometrization of mechanics; port-Hamiltonian systems; and machine learning methods for ODEs"
],
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"permalink": "port-hamiltonian-systems-structure-recognition-and-applications",
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{
"identifiers": {
"doi": "10.2140/memocs.2021.9.59"
},
"citation": "Salnikov, V., Hamdouni, A. & Loziienko, D. Generalized and graded geometry for mechanics: a comprehensive introduction. Mathematics and Mechanics of Complex Systems vol. 9 59–75 (2021)"
},
{
"identifiers": {},
"citation": "Salnikov, V. and Hamdouni, A., Geometric integrators in mechanics: The need for computer algebra tools, Tr. Tret’ei Mezhdun. Konf. “Computer algebra” (Proc. 3rd Int. Conf. Computer Algebra), Moscow, 2019."
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"identifiers": {
"doi": "10.1134/s0361768820020097"
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"citation": "Salnikov, V. N. & Hamdouni, A. Differential Geometry and Mechanics: A Source for Computer Algebra Problems. Programming and Computer Software vol. 46 126–132 (2020)"
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"identifiers": {
"doi": "10.1134/s0965542523010104"
},
"citation": "Salnikov, V., Falaize, A. & Lozienko, D. Learning port-Hamiltonian Systems—Algorithms. Computational Mathematics and Mathematical Physics vol. 63 126–134 (2023)"
},
{
"identifiers": {},
"citation": "H.M. Paynter. Paynter, H.M., Analysis and Design of Engineering Systems, MIT Press, 1961. (1961)"
},
{
"identifiers": {},
"citation": "van der Schaft, A., Port-Hamiltonian systems: An introductory survey, Proc. Int. Congr. Math., Madrid, 2006."
},
{
"identifiers": {},
"citation": "Sage manifolds: Differential geometry and tensor calculus with SageMath. https://sagemanifolds.obspm.fr"
},
{
"identifiers": {},
"citation": "Falaize, A., Modélisation, simulation, génération de code et correction de systèmes multi-physiques audios: Approche par réseau de composants et formulation hamiltonienne à ports, PhD thesis, Université Pierre et Marie Curie, 2016."
},
{
"identifiers": {},
"citation": "Modeling, simulation and code-generation of multiphysical port-Hamiltonian systems in Python. https://github.com/pyphs/pyphs"
},
{
"identifiers": {},
"citation": "Edler, D., Holmgren, A., and Rosvall, M., Infomap: Network community detection using the MapEquation framework. https://www.mapequation.org/infomap"
},
{
"identifiers": {},
"citation": "Hairer, E., Lubich, C., and Wanner, G., Geometric numerical integration, Springer Ser. Comput. Math., 2006."
},
{
"identifiers": {
"doi": "10.1186/s40323-018-0110-y"
},
"citation": "Razafindralandy, D., Hamdouni, A. & Chhay, M. A review of some geometric integrators. Advanced Modeling and Simulation in Engineering Sciences vol. 5 (2018)"
},
{
"identifiers": {
"doi": "10.1186/s40323-019-0130-2"
},
"citation": "Razafindralandy, D., Salnikov, V., Hamdouni, A. & Deeb, A. Some robust integrators for large time dynamics. Advanced Modeling and Simulation in Engineering Sciences vol. 6 (2019)"
},
{
"identifiers": {
"doi": "10.1016/j.geomphys.2023.104751"
},
"citation": "Cosserat, O. Symplectic groupoids for Poisson integrators. Journal of Geometry and Physics vol. 186 104751 (2023)"
},
{
"identifiers": {
"doi": "10.1177/10812865231217096"
},
"citation": "Cosserat, O., Laurent-Gengoux, C. & Salnikov, V. Numerical methods in Poisson geometry and their application to mechanics. Mathematics and Mechanics of Solids vol. 29 904–923 (2024)"
}
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"type": "journal-article",
"title": "Learning port-Hamiltonian Systems—Algorithms",
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"given": "V.",
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"abstract": "Abstract In this article we study the possibilities of recovering the structure of port-Hamiltonian systems starting from “unlabelled” ordinary differential equations describing mechanical systems. The algorithm we suggest solves the problem in two phases. It starts by constructing the connectivity structure of the system using machine learning methods – producing thus a graph of interconnected subsystems. Then this graph is enhanced by recovering the Hamiltonian structure of each subsystem as well as the corresponding ports. This second phase relies heavily on results from symplectic and Poisson geometry that we briefly sketch. And the precise solutions can be constructed using methods of computer algebra and symbolic computations. The algorithm permits to extend the port-Hamiltonian formalism to generic ordinary differential equations, hence introducing eventually a new concept of normal forms of ODEs.",
"container_title": "Computational Mathematics and Mathematical Physics",
"publication_year": "2023",
"volume": "63",
"issue": "1",
"pages": "126--134",
"publisher": "Pleiades Publishing Ltd",
"event": "",
"keywords": [
"symplectic structures; Poisson geometry; port-Hamiltonian systems"
],
"created_date": "2023-04-08",
"permalink": "learning-port-hamiltonian-systems-algorithms",
"references": [
{
"identifiers": {
"doi": "10.2140/memocs.2021.9.59"
},
"citation": "Salnikov, V., Hamdouni, A. & Loziienko, D. Generalized and graded geometry for mechanics: a comprehensive introduction. Mathematics and Mechanics of Complex Systems vol. 9 59–75 (2021)"
},
{
"identifiers": {
"doi": "10.1103/physrev.159.98"
},
"citation": "Verlet, L. Computer ‘Experiments’ on Classical Fluids. I. Thermodynamical Properties of Lennard-Jones Molecules. Physical Review vol. 159 98–103 (1967)"
},
{
"identifiers": {
"doi": "10.1016/0375-9601(90)90092-3"
},
"citation": "Yoshida, H. Construction of higher order symplectic integrators. Physics Letters A vol. 150 262–268 (1990)"
},
{
"identifiers": {
"doi": "10.1016/j.geomphys.2023.104751"
},
"citation": "Cosserat, O. Symplectic groupoids for Poisson integrators. Journal of Geometry and Physics vol. 186 104751 (2023)"
},
{
"identifiers": {},
"citation": "H. M. Paynter. H. M. Paynter, Analysis and Design of Engineering Systems (MIT, Cambridge, Massachusetts, 1961). (1961)"
},
{
"identifiers": {
"doi": "10.1016/s0016-0032(92)90049-m"
},
"citation": "Maschke, B. M., Van Der Schaft, A. J. & Breedveld, P. C. An intrinsic hamiltonian formulation of network dynamics: non-standard poisson structures and gyrators. Journal of the Franklin Institute vol. 329 923–966 (1992)"
},
{
"identifiers": {
"doi": "10.4171/022-3/65"
},
"citation": "van der Schaft, A. Port-Hamiltonian systems: an introductory survey. Proceedings of the International Congress of Mathematicians Madrid, August 22–30, 2006 1339–1365 (2007) doi:10.4171/022-3/65"
},
{
"identifiers": {},
"citation": "O. Cosserat, C. Laurent-Gengoux, A. Kotov, L. Ryvkin, and V. Salnikov, “On Dirac structures admitting a variational approach,” Preprint (2021). arXiv:2109.00313"
},
{
"identifiers": {},
"citation": "A. Falaize, PhD Thesis (Télécommun. Électron. de Paris, Univ. Pierre et Marie Curie, Paris, 2016)."
},
{
"identifiers": {
"doi": "10.1134/s0361768820020097"
},
"citation": "Salnikov, V. N. & Hamdouni, A. Differential Geometry and Mechanics: A Source for Computer Algebra Problems. Programming and Computer Software vol. 46 126–132 (2020)"
},
{
"identifiers": {},
"citation": "V. Salnikov, A. Falaize, and D. Loziienko, “Learning port-Hamiltonian systems: Applications” (in preparation)."
},
{
"identifiers": {
"doi": "10.1007/978-1-4757-2063-1"
},
"citation": "Arnold, V. I. Mathematical Methods of Classical Mechanics. Graduate Texts in Mathematics (Springer New York, 1989). doi:10.1007/978-1-4757-2063-1"
},
{
"identifiers": {},
"citation": "A. Cannas Da Silva. A. Cannas Da Silva and A. Weinstein, Geometric Models for Noncommutative Algebras (Am. Math. Soc., Providence, R.I., 2000). (2000)"
},
{
"identifiers": {},
"citation": "A. Falaize. A. Falaize and T. Hélie, “Passive guaranteed simulation of analog audio circuits: A port-Hamiltonian approach,” Appl. Sci. Appl. Acoust. 6 (10), 273 (2016). (2016)"
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"doi": "10.1016/j.jsv.2016.11.008"
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"citation": "Falaize, A. & Hélie, T. Passive simulation of the nonlinear port-Hamiltonian modeling of a Rhodes Piano. Journal of Sound and Vibration vol. 390 289–309 (2017)"
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{
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"doi": "10.1134/s1560354717060090"
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{
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},
"citation": "Leclercq, T. & de Langre, E. Vortex-induced vibrations of cylinders bent by the flow. Journal of Fluids and Structures vol. 80 77–93 (2018)"
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{
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"doi": "10.1134/s0361768820020097"
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"citation": "Salnikov, V. N. & Hamdouni, A. Differential Geometry and Mechanics: A Source for Computer Algebra Problems. Programming and Computer Software vol. 46 126–132 (2020)"
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"doi": "10.1137/040611677"
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"title": "Dirac structures and Boundary Control Systems associated with Skew-Symmetric Differential Operators",
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{
"given": "Y.",
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"given": "H.",
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"abstract": "Associated with a skew-symmetric linear operator on the spatial domain $[a,b]$ we define a Dirac structure which includes the port variables on the boundary of this spatial domain. This Dirac structure is a subspace of a Hilbert space. Naturally, associated with this Dirac structure is an infinite-dimensional system. We parameterize the boundary port variables for which the $ C_{0} $-semigroup associated with this system is contractive or unitary. Furthermore, this parameterization is used to split the boundary port variables into inputs and outputs. Similarly, we define a linear port controlled Hamiltonian system associated with the previously defined Dirac structure and a symmetric positive operator defining the energy of the system. We illustrate this theory on the example of the Timoshenko beam.",
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"doi": "10.1137/s0363012996312039"
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"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM Journal on Control and Optimization vol. 37 54–91 (1998)"
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{
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"doi": "10.1109/9.871758"
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"citation": "Maschke, B., Ortega, R. & Van Der Schaft, A. J. Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation. IEEE Transactions on Automatic Control vol. 45 1498–1502 (2000)"
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"doi": "10.1016/s0016-0032(92)90049-m"
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"citation": "Maschke, B. M., Van Der Schaft, A. J. & Breedveld, P. C. An intrinsic hamiltonian formulation of network dynamics: non-standard poisson structures and gyrators. Journal of the Franklin Institute vol. 329 923–966 (1992)"
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{
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{
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{
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{
"identifiers": {
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},
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{
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{
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{
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{
"identifiers": {},
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"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
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"title": "Port-Hamiltonian Modeling of a Nonlinear Timoshenko Beam with Piezo Actuation",
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"given": "Thomas",
"family": "Voß",
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{
"given": "Jacquelien M. A.",
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"abstract": "In this paper we develop a mathematical model for the dynamics of a nonlinear Timoshenko beam with piezoelectric actuation. This model can then be used to design controllers with the goal of achieving a desired shape of the beam. The control scheme can be used for several applications, e.g., vibration control in structures or shape control for high-precision structures like inflatable space reflectors. The starting point of the control design is modeling for control. We do this in the framework of port-Hamiltonian (pH) modeling, which has favorable properties, such as passivity and a Hamiltonian representing the energy and serving as a Lyapunov function, that can be exploited for controller design. An important property of the pH modeling framework is that it facilitates modeling multiphysics systems or systems which consist of several subsystems, where all parts are modeled separately and then can be interconnected easily. This is possible because any interconnection of finite dimensional pH systems yiel...",
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"issue": "1",
"pages": "493--519",
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{
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{
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},
{
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{
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{
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},
{
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},
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},
{
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},
{
"identifiers": {
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},
{
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"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
},
{
"identifiers": {
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},
{
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},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "Villegas J. A., Japan (2006)"
},
{
"identifiers": {
"doi": "10.1109/tac.2008.2007176"
},
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{
"identifiers": {},
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},
{
"identifiers": {
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},
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{
"identifiers": {
"doi": "10.1137/100789038"
},
"citation": "Voss, T. & Scherpen, J. M. A. Structure Preserving Spatial Discretization of a 1-D Piezoelectric Timoshenko Beam. Multiscale Modeling & Simulation vol. 9 129–154 (2011)"
},
{
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"doi": "10.1137/1.9781611976847.10",
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"type": "book-chapter",
"title": "In-domain finite dimensional control of distributed parameter port-Hamiltonian systems via energy shaping",
"authors": [
{
"given": "Ning",
"family": "Liu",
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{
"given": "Yongxin",
"family": "Wu",
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{
"given": "Yann",
"family": "Le Gorrec",
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{
"given": "Laurent",
"family": "Lefèvre",
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{
"given": "Hector",
"family": "Ramirez",
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"abstract": "In this paper we consider in-domain control of distributed parameter port-Hamiltonian systems defined on a one dimensional spatial domain. Through an early lumping approach we extend the control by interconnection and energy shaping approach to the use of distributed control over the spatial domain. With the established finite dimensional controller, the closed-loop performances can be modified over a given range of frequencies while guaranteeing the closedloop stability of the infinite dimensional system. Two cases are investigated, the ideal case where the controller acts on the complete spatial domain (infinite dimensional distributed control), and the more realistic one where the control is piecewise homogeneous (finite rank distributed control). The proposed control strategies are illustrated through simulations on the stabilization of a vibrating Timoshenko",
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"pages": "70--77",
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"title": "Structure Preserving Spatial Discretization of a 1-D Piezoelectric Timoshenko Beam",
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"given": "T.",
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{
"given": "J. M. A.",
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"abstract": "In this paper we show how to spatially discretize a distributed model of a piezoelectric beam representing the dynamics of an inflatable space reflector in port-Hamiltonian (pH) form. This model can then be used to design a controller for the shape of the inflatable structure. Inflatable structures have very nice properties, suitable for aerospace applications, e.g., inflatable space reflectors. With this technology we can build inflatable reflectors which are about 100 times bigger than solid ones. But to be useful for telescopes we have to achieve the desired surface accuracy by actively controlling the surface of the inflatable. The starting point of the control design is modeling for control. In this paper we choose lumped pH modeling since these models offer a clear structure for control design. To be able to design a finite dimensional controller for the infinite dimensional system we need a finite dimensional approximation of the infinite dimensional system which inherits all the structural propert...",
"container_title": "Multiscale Modeling & Simulation",
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"references": [
{
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},
{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
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},
{
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},
{
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},
{
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002)"
},
{
"identifiers": {
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{
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},
{
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"doi": "10.1137/100806825"
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"type": "journal-article",
"title": "State Maps from Integration by Parts",
"authors": [
{
"given": "Arjan",
"family": "van der Schaft",
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"given": "Paolo",
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"abstract": "We develop a new approach to the construction of state vectors for linear time-invariant systems described by higher-order differential equations. The basic observation is that the concatenation of two solutions of higher-order differential equations results in another (weak) solution once their remainder terms resulting from (repeated) integration by parts match. These remainder terms can be computed in a simple and efficient manner by making use of the calculus of bilinear differential forms and two-variable polynomial matrices. Factorization of the resulting two-variable polynomial matrix defines a state map, as well as a state map for the adjoint system. Minimality of these state maps is characterized. The theory is applied to three classes of systems with additional structure, namely self-adjoint Hamiltonian, conservative port-Hamiltonian, and time-reversible systems. For the first two classes it is shown how the factorization leading to a (minimal) state map is equivalent to the factorization of another two-variable polynomial matrix, which is immediately derived from the external system characterization, and defines a symplectic, respectively, symmetric, bilinear form on the minimal state space.",
"container_title": "SIAM Journal on Control and Optimization",
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"issue": "6",
"pages": "2415--2439",
"publisher": "Society for Industrial & Applied Mathematics (SIAM)",
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"keywords": [],
"created_date": "2011-11-17",
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{
"identifiers": {
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{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
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},
{
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1137/s0363012994268412"
},
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},
{
"identifiers": {
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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}
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"id": "0f5ff54a-8b11-58d3-95d3-7b26aaf0d9b9",
"identifiers": {
"doi": "10.1137/110840091"
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"type": "journal-article",
"title": "Port-Hamiltonian Systems on Graphs",
"authors": [
{
"given": "A. J.",
"family": "van der Schaft",
"literal": null,
"source_fields": {
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"affiliation": []
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{
"given": "B. M.",
"family": "Maschke",
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"abstract": "In this paper we present a unifying geometric and compositional framework for modeling complex physical network dynamics as port-Hamiltonian systems on open graphs. Basic idea is to associate with the incidence matrix of the graph a Dirac structure relating the flow and effort variables associated to the edges, internal vertices, as well as boundary vertices of the graph, and to formulate energy-storing or energy-dissipating relations between the flow and effort variables of the edges and internal vertices. This allows for state variables associated to the edges, and formalizes the interconnection of networks. Examples from different origins such as consensus algorithms are shown to share the same structure. It is shown how the identified Hamiltonian structure offers systematic tools for the analysis of the resulting dynamics.",
"container_title": "SIAM Journal on Control and Optimization",
"publication_year": "2013",
"volume": "51",
"issue": "2",
"pages": "906--937",
"publisher": "Society for Industrial & Applied Mathematics (SIAM)",
"event": "",
"keywords": [],
"created_date": "2013-03-14",
"permalink": "port-hamiltonian-systems-on-graphs",
"references": [
{
"identifiers": {
"doi": "10.1109/tac.2007.902733"
},
"citation": "Arcak, M. Passivity as a Design Tool for Group Coordination. IEEE Transactions on Automatic Control vol. 52 1380–1390 (2007)"
},
{
"identifiers": {
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{
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{
"identifiers": {
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{
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{
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{
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{
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{
"identifiers": {
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{
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{
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{
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{
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"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
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{
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},
{
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"title": "Scalable Reduction of Elastic Continuum for Boundary Energy Control",
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"given": "Gou",
"family": "Nishida",
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{
"given": "Kenji",
"family": "Fujimoto",
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"given": "Daiji",
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"abstract": "This paper derives a scalable reduction of an elastic continuum for boundary energy control methods in terms of the statistical identification of coarse-grained molecular dynamics. Such an identified molecular dynamics, called renormalized molecular dynamics, is used for fast numerical calculations as well as for modeling large targets, even though the numerical molecular dynamics calculations are very time-consuming. The coarse graining can be described as a parameter scaling in the Hamiltonian system of renormalized molecular dynamics, and thus a renormalized Hamiltonian system can be defined by the scalable Hamiltonian. At the inverse limit of the coarse graining, the renormalized Hamiltonian system can be transformed into a distributed port-Hamiltonian system that is a formal representation of partial differential equations for boundary controls based on energy flows. By introducing the concept of the controls to each coarse graining level, the renormalized Hamiltonian systems can be used as a scalabl...",
"container_title": "SIAM Journal on Control and Optimization",
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"issue": "4",
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"doi": "10.1109/mcas.2010.938635"
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"citation": "Willems, J. Terminals and Ports. IEEE Circuits and Systems Magazine vol. 10 8–26 (2010)"
},
{
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"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
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"doi": "10.1016/j.automatica.2003.12.017"
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"citation": "Golo, G., Talasila, V., van der Schaft, A. & Maschke, B. Hamiltonian discretization of boundary control systems. Automatica vol. 40 757–771 (2004)"
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{
"identifiers": {
"doi": "10.1016/j.matcom.2008.02.011"
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},
{
"identifiers": {
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},
"citation": "Macchelli, A. Energy shaping of distributed parameter port-Hamiltonian systems based on finite element approximation. Systems & Control Letters vol. 60 579–589 (2011)"
},
{
"identifiers": {
"doi": "10.1137/100789038"
},
"citation": "Voss, T. & Scherpen, J. M. A. Structure Preserving Spatial Discretization of a 1-D Piezoelectric Timoshenko Beam. Multiscale Modeling & Simulation vol. 9 129–154 (2011)"
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{
"identifiers": {
"doi": "10.1016/j.sysconle.2012.05.003"
},
"citation": "Pasumarthy, R., Ambati, V. R. & van der Schaft, A. J. Port-Hamiltonian discretization for open channel flows. Systems & Control Letters vol. 61 950–958 (2012)"
},
{
"identifiers": {
"doi": "10.1016/j.geomphys.2012.02.006"
},
"citation": "Seslija, M., van der Schaft, A. & Scherpen, J. M. A. Discrete exterior geometry approach to structure-preserving discretization of distributed-parameter port-Hamiltonian systems. Journal of Geometry and Physics vol. 62 1509–1531 (2012)"
},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
"citation": "FUJIMOTO, K. Balanced Realization and Model Order Reduction for Port-Hamiltonian Systems. Journal of System Design and Dynamics vol. 2 694–702 (2008)"
},
{
"identifiers": {
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},
"citation": "Polyuga, R. V. & van der Schaft, A. J. Effort- and flow-constraint reduction methods for structure preserving model reduction of port-Hamiltonian systems. Systems & Control Letters vol. 61 412–421 (2012)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/s0034-4877(09)00009-3"
},
"citation": "Jeltsema, D. & Van Der Schaft, A. J. Lagrangian and Hamiltonian formulation of transmission line systems with boundary energy flow. Reports on Mathematical Physics vol. 63 55–74 (2009)"
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{
"identifiers": {
"doi": "10.1137/040611677"
},
"citation": "Le Gorrec, Y., Zwart, H. & Maschke, B. Dirac structures and Boundary Control Systems associated with Skew-Symmetric Differential Operators. SIAM Journal on Control and Optimization vol. 44 1864–1892 (2005)"
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{
"identifiers": {
"doi": "10.1109/tac.2008.2007176"
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"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y. & Maschke, B. Exponential Stability of a Class of Boundary Control Systems. IEEE Transactions on Automatic Control vol. 54 142–147 (2009)"
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{
"identifiers": {
"doi": "10.1051/cocv/2009036"
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"citation": "Zwart, H., Le Gorrec, Y., Maschke, B. & Villegas, J. Well-posedness and regularity of hyperbolic boundary control systems on a one-dimensional spatial domain. ESAIM: Control, Optimisation and Calculus of Variations vol. 16 1077–1093 (2009)"
},
{
"identifiers": {},
"citation": "Diagne M., Washington, DC (2011)"
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{
"identifiers": {
"doi": "10.1016/s0034-4877(07)00024-9"
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"citation": "Eberard, D., Maschke, B. M. & van der Schaft, A. J. An extension of Hamiltonian systems to the thermodynamic phase space: Towards a geometry of nonreversible processes. Reports on Mathematical Physics vol. 60 175–198 (2007)"
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{
"identifiers": {
"doi": "10.1016/j.conengprac.2010.10.005"
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}
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"identifiers": {
"doi": "10.1137/110856058"
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"type": "journal-article",
"title": "Boundary Integrability of Multiple Stokes--Dirac Structures",
"authors": [
{
"given": "Gou",
"family": "Nishida",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
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{
"given": "Bernhard",
"family": "Maschke",
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{
"given": "Ryojun",
"family": "Ikeura",
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],
"abstract": "A distributed port-Hamiltonian (DPH) system is a framework of boundary controls based on energy for partial differential equations (PDEs). A DPH system is defined in terms of a Stokes--Dirac structure that implies boundary integrability in the sense of Stokes' theorem. Because of the boundary integrability, the energy flows of the systems distributed on a domain can be transformed into energy flows across the boundary of the domain. In general, there might exist boundary nonintegrable energy flows in PDEs. Such energy flows can be modeled by an extended representation of DPH systems, called a distributed energy flow. This paper shows that DPH systems with distributed energy flows can be transformed into standard DPH systems without distributed energy flows by adding extra DPH systems. As a result, we can apply boundary controls and boundary interconnections based on energy to a larger class of PDEs. We call this transformation the boundary completion of DPH systems. This paper derives the necessary and su...",
"container_title": "SIAM Journal on Control and Optimization",
"publication_year": "2015",
"volume": "53",
"issue": "2",
"pages": "800--815",
"publisher": "Society for Industrial & Applied Mathematics (SIAM)",
"event": "",
"keywords": [],
"created_date": "2015-03-31",
"permalink": "boundary-integrability-of-multiple-stokes-dirac-structures",
"references": [
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
},
{
"identifiers": {
"doi": "10.1090/s0002-9947-1990-0998124-1"
},
"citation": "Courant, T. J. Dirac manifolds. Transactions of the American Mathematical Society vol. 319 631–661 (1990)"
},
{
"identifiers": {
"doi": "10.1109/tac.2008.2007176"
},
"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y. & Maschke, B. Exponential Stability of a Class of Boundary Control Systems. IEEE Transactions on Automatic Control vol. 54 142–147 (2009)"
},
{
"identifiers": {
"doi": "10.1137/040611677"
},
"citation": "Le Gorrec, Y., Zwart, H. & Maschke, B. Dirac structures and Boundary Control Systems associated with Skew-Symmetric Differential Operators. SIAM Journal on Control and Optimization vol. 44 1864–1892 (2005)"
},
{
"identifiers": {
"doi": "10.1016/s0034-4877(07)00024-9"
},
"citation": "Eberard, D., Maschke, B. M. & van der Schaft, A. J. An extension of Hamiltonian systems to the thermodynamic phase space: Towards a geometry of nonreversible processes. Reports on Mathematical Physics vol. 60 175–198 (2007)"
},
{
"identifiers": {
"doi": "10.1137/100789038"
},
"citation": "Voss, T. & Scherpen, J. M. A. Structure Preserving Spatial Discretization of a 1-D Piezoelectric Timoshenko Beam. Multiscale Modeling & Simulation vol. 9 129–154 (2011)"
},
{
"identifiers": {},
"citation": "Nishida G., Berlin (2007)"
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{
"identifiers": {
"doi": "10.1088/1751-8113/40/38/013"
},
"citation": "Jeltsema, D. & Schaft, A. van der. Pseudo-gradient and Lagrangian boundary control system formulation of electromagnetic fields. Journal of Physics A: Mathematical and Theoretical vol. 40 11627–11643 (2007)"
},
{
"identifiers": {
"doi": "10.1016/s0034-4877(09)00009-3"
},
"citation": "Jeltsema, D. & Van Der Schaft, A. J. Lagrangian and Hamiltonian formulation of transmission line systems with boundary energy flow. Reports on Mathematical Physics vol. 63 55–74 (2009)"
},
{
"identifiers": {},
"citation": "Nishida G., NJ (2008)"
},
{
"identifiers": {},
"citation": "Nishida G., IFAC, Pretoria (2007)"
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{
"identifiers": {},
"citation": "Franco A.A., Vienna (2006)"
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"id": "2e3de88e-a183-515a-bf8c-a22f16904156",
"identifiers": {
"doi": "10.1137/120885085"
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"type": "journal-article",
"title": "Symplectic Integrators for Index 1 Constraints",
"authors": [
{
"given": "Robert I.",
"family": "McLachlan",
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{
"given": "Klas",
"family": "Modin",
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{
"given": "Olivier",
"family": "Verdier",
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{
"given": "Matt",
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],
"abstract": "We show that symplectic Runge-Kutta methods provide effective symplectic integrators for Hamiltonian systems with index one constraints. These include the Hamiltonian description of variational problems subject to position and velocity constraints nondegenerate in the velocities, such as those arising in sub-Riemannian geometry and control theory.",
"container_title": "SIAM Journal on Scientific Computing",
"publication_year": "2013",
"volume": "35",
"issue": "5",
"pages": "A2150--A2162",
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{
"identifiers": {
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},
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{
"identifiers": {
"doi": "10.1137/0716004"
},
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{
"identifiers": {
"doi": "10.3934/jgm.2012.4.137"
},
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{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.3934/dcds.2014.34.1121"
},
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},
{
"identifiers": {
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},
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},
{
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}
]
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{
"id": "b908da70-257d-51da-8d1e-e540de66f549",
"identifiers": {
"doi": "10.1137/130918228"
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"type": "journal-article",
"title": "Passivity-Based Control of Implicit Port-Hamiltonian Systems",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
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],
"abstract": "The main contribution of this paper is the generalisation of well-known energy-based control techniques (i.e., energy-balancing passivity-based control and passivity-based control with state modulated source), to the case in which the plant is a port-Hamiltonian system in implicit form. A typical situation is when (part of) the system is obtained from the spatial discretization of an infinite dimensional port-Hamiltonian system: in this case, the dynamics is not given in standard input-state-output form, but as a set of DAEs. Consequently, the control by energy-shaping has to be extended to deal with dynamical systems with constraints. The general methodology is discussed with the help of a simple but illustrative example, i.e. a transmission line interconnected with an RLC circuit.",
"container_title": "SIAM Journal on Control and Optimization",
"publication_year": "2014",
"volume": "52",
"issue": "4",
"pages": "2422--2448",
"publisher": "Society for Industrial & Applied Mathematics (SIAM)",
"event": "",
"keywords": [],
"created_date": "2014-07-29",
"permalink": "passivity-based-control-of-implicit-port-hamiltonian-systems",
"references": [
{
"identifiers": {},
"citation": "Bassi L., Berlin (2007)"
},
{
"identifiers": {},
"citation": "Batlle C., Orlando, FL (2011)"
},
{
"identifiers": {
"doi": "10.1016/s0034-4877(01)90006-0"
},
"citation": "Blankenstein, G. & van der Schaft, A. J. Symmetry and reduction in implicit generalized Hamiltonian systems. Reports on Mathematical Physics vol. 47 57–100 (2001)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2006.08.014"
},
"citation": "Cervera, J., van der Schaft, A. J. & Baños, A. Interconnection of port-Hamiltonian systems and composition of Dirac structures. Automatica vol. 43 212–225 (2007)"
},
{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM Journal on Control and Optimization vol. 37 54–91 (1998)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.12.017"
},
"citation": "Golo, G., Talasila, V., van der Schaft, A. & Maschke, B. Hamiltonian discretization of boundary control systems. Automatica vol. 40 757–771 (2004)"
},
{
"identifiers": {
"doi": "10.3166/ejc.16.545-563"
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"given": "Björn",
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"abstract": "Boundary feedback stabilisation of linear port-Hamiltonian systems on an interval is considered. Generation and stability results already known for linear feedback are extended to nonlinear dissipative feedback, both to static feedback control and dynamic control via an (exponentially stabilising) nonlinear controller. A design method for nonlinear controllers of linear port-Hamiltonian systems is introduced. As a special case the Euler-Bernoulli beam is considered.",
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"abstract": "This paper presents a structure-preserving model reduction approach applicable to large-scale, nonlinear port-Hamiltonian systems. Structure preservation in the reduction step ensures the retention of port-Hamiltonian structure which, in turn, assures the stability and passivity of the reduced model. Our analysis provides a priori error bounds for both state variables and outputs. Three techniques are considered for constructing bases needed for the reduction: one that utilizes proper orthogonal decompositions; one that utilizes $\\mathcal{H}_2/\\mathcal{H}_{\\infty}$-derived optimized bases; and one that is a mixture of the two. The complexity of evaluating the reduced nonlinear term is managed efficiently using a modification of the discrete empirical interpolation method (DEIM) that also preserves port-Hamiltonian structure. The efficiency and accuracy of this model reduction framework are illustrated with two examples: a nonlinear ladder network and a tethered Toda lattice.",
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{
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{
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"type": "journal-article",
"title": "Stability Radii for Linear Hamiltonian Systems with Dissipation Under Structure-Preserving Perturbations",
"authors": [
{
"given": "Christian",
"family": "Mehl",
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{
"given": "Volker",
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{
"given": "Punit",
"family": "Sharma",
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"abstract": "Dissipative Hamiltonian (DH) systems are an important concept in energy based modeling of dynamical systems. One of the major advantages of the DH formulation is that system properties are encoded in an algebraic way. For instance, the algebraic structure of DH systems guarantees that the system is automatically stable. In this paper the question is discussed when a linear constant coefficient DH system is on the boundary of the region of asymptotic stability, i.e., when it has purely imaginary eigenvalues, or how much it has to be perturbed to be on this boundary. For unstructured systems this distance to instability (stability radius) is well understood. In this paper, explicit formulas for this distance under structure-preserving perturbations are determined. It is also shown (via numerical examples) that under structure-preserving perturbations the asymptotical stability of a DH system is much more robust than under general perturbations, since the distance to instability can be much larger when struc...",
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"issue": "4",
"pages": "1625--1654",
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{
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"abstract": "We consider the discretization and subsequent model reduction of a system of partial differential-algebraic equations describing the propagation of pressure waves in a pipeline network. Important properties like conservation of mass, dissipation of energy, passivity, existence of steady states, and exponential stability can be preserved by an appropriate semidiscretization in space via a mixed finite element method and also during the further dimension reduction by structure- preserving Galerkin projection, which is the main focus of this paper. Krylov subspace methods are employed for the construction of the reduced models, and we discuss certain modifications needed to satisfy some algebraic compatibility conditions which are required to ensure the well-posedness of the reduced models and the preservation of the key properties. Our arguments are based on a careful analysis of the underlying infinite dimensional problem and its Galerkin approximations. The proposed algorithms therefore have a direct inte...",
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"abstract": "The notion of positive realness for linear time-invariant (LTI) dynamical systems, equivalent to passivity, is one of the oldest in system and control theory. In this paper, we consider the problem of finding the nearest positive real (PR) system to a non-PR system: given an LTI control system defined by $E \\dot{x}=Ax+Bu$ and $y=Cx+Du$, minimize the Frobenius norm of $(\\Delta_E,\\Delta_A,\\Delta_B,\\Delta_C,\\Delta_D)$ such that $(E+\\Delta_E,A+\\Delta_A,B+\\Delta_B,C+\\Delta_C,D+\\Delta_D)$ is a PR system. We first show that a system is extended strictly PR if and only if it can be written as a strict port-Hamiltonian system. This allows us to reformulate the nearest PR system problem into an optimization problem with a simple convex feasible set. We then use a fast gradient method to obtain a nearby PR system to a given non-PR system and illustrate the behavior of our algorithm with several examples. This is, to the best of our knowledge, the first algorithm that computes a nearby PR system to a given non-PR sys...",
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"abstract": "A wide class of matrix pencils connected with dissipative Hamiltonian descriptor systems is investigated. In particular, the following properties are shown: all eigenvalues are in the closed left half plane, the nonzero finite eigenvalues on the imaginary axis are semisimple, the index is at most two, and there are restrictions for the possible left and right minimal indices. For the case that the eigenvalue zero is not semisimple, a structure-preserving method is presented that perturbs the given system into a Lyapunov stable system.",
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"abstract": "We introduce a novel model order reduction (MOR) method for large-scale linear switched systems (LSS) where the coefficient matrices are affected by a low-rank switching. The key idea is to replace the LSS by a nonswitched system with extended input and output vectors---called the envelope system---which is able to reproduce the dynamical behavior of the original LSS by applying a certain feedback law. The envelope system can be reduced using standard MOR schemes and then transformed back into an LSS. Furthermore, we present an upper bound for the output error of the reduced-order LSS and show how to preserve quadratic Lyapunov stability. The approach is tested by means of a numerical example demonstrating the efficacy of the presented method.",
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"doi": "10.1137/19m1259092"
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"type": "journal-article",
"title": "Optimal Robustness of Port-Hamiltonian Systems",
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{
"given": "Volker",
"family": "Mehrmann",
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"abstract": "We construct optimally robust port-Hamiltonian realizations of a given rational transfer function that represents a passive system. We show that the realization with a maximal passivity radius is a normalized port-Hamiltonian one. Its computation is linked to a particular solution of a linear matrix inequality that defines passivity of the transfer function, and we provide an algorithm to construct this optimal solution. We also consider the problem of finding the nearest passive system to a given non-passive one and provide a simple but suboptimal solution.",
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"publication_year": "2020",
"volume": "41",
"issue": "1",
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{
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{
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{
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},
{
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{
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"identifiers": {
"doi": "10.1137/20m1344184"
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"type": "journal-article",
"title": "Structured Backward Errors for Eigenvalues of Linear Port-Hamiltonian Descriptor Systems",
"authors": [
{
"given": "Volker",
"family": "Mehrmann",
"literal": null,
"source_fields": {
"sequence": "first",
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{
"given": "Paul Van",
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"abstract": "When computing the eigenstructure of matrix pencils associated with the passivity analysis of perturbed port-Hamiltonian descriptor system using a structured generalized eigenvalue method, one should make sure that the computed spectrum satisfies the symmetries that corresponds to this structure and the underlying physical system. We perform a backward error analysis and show that for matrix pencils associated with port-Hamiltonian descriptor systems and a given computed eigenstructure with the correct symmetry structure there always exists a nearby port-Hamiltonian descriptor system with exactly that eigenstructure. We also derive bounds for how near this system is and show that the stability radius of the system plays a role in that bound.",
"container_title": "SIAM Journal on Matrix Analysis and Applications",
"publication_year": "2021",
"volume": "42",
"issue": "1",
"pages": "1--16",
"publisher": "Society for Industrial & Applied Mathematics (SIAM)",
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"keywords": [],
"created_date": "2021-01-05",
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"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/j.automatica.2018.11.013"
},
"citation": "Beattie, C. A., Mehrmann, V. & Van Dooren, P. Robust port-Hamiltonian representations of passive systems. Automatica vol. 100 182–186 (2019)"
},
{
"identifiers": {
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{
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{
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},
"citation": "Brull, T. & Schroder, C. Dissipativity Enforcement via Perturbation of Para-Hermitian Pencils. IEEE Transactions on Circuits and Systems I: Regular Papers vol. 60 164–177 (2013)"
},
{
"identifiers": {
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{
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},
"citation": "Freund, R. W. & Jarre, F. An extension of the positive real lemma to descriptor systems. Optimization Methods and Software vol. 19 69–87 (2004)"
},
{
"identifiers": {
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},
"citation": "Gillis, N., Mehrmann, V. & Sharma, P. Computing the nearest stable matrix pairs. Numerical Linear Algebra with Applications vol. 25 (2018)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2017.07.047"
},
"citation": "Gillis, N. & Sharma, P. On computing the distance to stability for matrices using linear dissipative Hamiltonian systems. Automatica vol. 85 113–121 (2017)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tcsi.2004.834527"
},
"citation": "Grivet-Talocia, S. Passivity Enforcement via Perturbation of Hamiltonian Matrices. IEEE Transactions on Circuits and Systems I: Regular Papers vol. 51 1755–1769 (2004)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2012.05.052"
},
"citation": "Gugercin, S., Polyuga, R. V., Beattie, C. & van der Schaft, A. Structure-preserving tangential interpolation for model reduction of port-Hamiltonian systems. Automatica vol. 48 1963–1974 (2012)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/59.910786"
},
"citation": "Gustavsen, B. & Semlyen, A. Enforcing passivity for admittance matrices approximated by rational functions. IEEE Transactions on Power Systems vol. 16 97–104 (2001)"
},
{
"identifiers": {
"doi": "10.1002/cpa.3160480602"
},
"citation": "Maddocks, J. H., Overton, M. L., Maddocks, J. H. & Overton, M. L. Stability theory for dissipatively perturbed hamiltonian systems. Communications on Pure and Applied Mathematics vol. 48 583–610 (1995)"
},
{
"identifiers": {
"doi": "10.1137/16m1067330"
},
"citation": "Mehl, C., Mehrmann, V. & Sharma, P. Stability Radii for Linear Hamiltonian Systems with Dissipation Under Structure-Preserving Perturbations. SIAM Journal on Matrix Analysis and Applications vol. 37 1625–1654 (2016)"
},
{
"identifiers": {
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},
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"abstract": "The location of the spectrum and the Riesz basis property of well-posed homogeneous infinite-dimensional linear port-Hamiltonian systems on a 1D spatial domain are studied. It is shown that the Riesz basis property is equivalent to the fact that system operator generates a strongly continuous group. Moreover, in this situation the spectrum consists of eigenvalues only, located in a strip parallel to the imaginary axis and they can decomposed into finitely many sets having each a uniform gap.",
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"title": "A Linear Relation Approach to Port-Hamiltonian Differential-Algebraic Equations",
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"given": "Hannes",
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"abstract": "We consider linear port-Hamiltonian differential-algebraic equations (pH-DAEs). Inspired by the geometric approach of Maschke and van der Schaft and the linear algebraic approach of Mehl, Mehrmann and Wojtylak, we present another view by using the theory of linear relations. We show that this allows to elaborate the differences and mutualities of the geometric and linear algebraic views, and we introduce a class of DAEs which comprises these two approaches. We further study the properties of matrix pencils arising from our approach via linear relations.",
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"doi": "10.1016/j.sysconle.2018.09.008"
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"citation": "van der Schaft, A. & Maschke, B. Generalized port-Hamiltonian DAE systems. Systems & Control Letters vol. 121 31–37 (2018)"
},
{
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"doi": "10.1561/2600000002"
},
"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. Foundations and Trends® in Systems and Control vol. 1 173–378 (2014)"
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{
"given": "Paul",
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"given": "Matthias",
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"abstract": "Model order reduction (MOR) methods that are designed to preserve structural features of a given full order model (FOM) often suffer from a lower accuracy when compared to their non-structure-preserving counterparts. In this paper, we present a framework for structure-preserving MOR, which allows to compute structured reduced order models (ROMs) with a much higher accuracy. The framework is based on parameter optimization, i.e., the elements of the system matrices of the ROM are iteratively varied to minimize an objective functional that measures the difference between the FOM and the ROM. The structural constraints can be encoded in the parametrization of the ROM. The method only depends on frequency response data and can thus be applied to a wide range of dynamical systems. We illustrate the effectiveness of our method on a port-Hamiltonian and on a symmetric second-order system in a comparison with other structure-preserving MOR algorithms.",
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"abstract": "We analyze when an arbitrary matrix pencil is equivalent to a dissipative Hamiltonian pencil and show that this heavily restricts the spectral properties. In order to relax the spectral properties, we introduce matrix pencils with coefficients that have positive semidefinite Hermitian parts. We will make a detailed analysis of their spectral properties and their numerical range. In particular, we relate the Kronecker structure of these pencils to that of an underlying skew-Hermitian pencil and discuss their regularity, index, numerical range, and location of eigenvalues. Further, we study matrix polynomials with positive semidefinite Hermitian coefficients and use linearizations with positive semidefinite Hermitian parts to derive sufficient conditions for a spectrum in the left half plane and derive bounds on the index.",
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"title": "Port-Hamiltonian Structure of Interacting Particle Systems and Its Mean-Field Limit",
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"given": "Birgit",
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"abstract": "We derive a minimal port-Hamiltonian formulation of a general class of interacting particle systems driven by alignment and potential-based force dynamics which include the Cucker-Smale model with potential interaction and the second order Kuramoto model. The port-Hamiltonian structure allows to characterize conserved quantities such as Casimir functions as well as the long-time behaviour using a LaSalle-type argument on the particle level. It is then shown that the port-Hamiltonian structure is preserved in the mean-field limit and an analogue of the LaSalle invariance principle is studied in the space of probability measures equipped with the 2-Wasserstein-metric. The results on the particle and mean-field limit yield a new perspective on uniform stability of general interacting particle systems. Moreover, as the minimal port-Hamiltonian formulation is closed we identify the ports of the subsystems which admit generalized mass-spring-damper structure modelling the binary interaction of two particles. Using the information of ports we discuss the coupling of difference species in a port-Hamiltonian preserving manner.",
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"abstract": ". Interpolatory necessary optimality conditions for [Formula: see text]-optimal reduced-order modeling of unstructured linear time-invariant (LTI) systems are well-known. Based on previous work on [Formula: see text]-optimal reduced-order modeling of stationary parametric problems, in this paper, we develop and investigate optimality conditions for [Formula: see text]-optimal reduced-order modeling of structured LTI systems, in particular, for second-order, port-Hamiltonian, and time-delay systems. Under certain diagonalizability assumptions, we show that across all these different structured settings, bitangential Hermite interpolation is the common form for optimality, thus proving a unifying optimality framework for structured reduced-order modeling.",
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"citation": "Warsewa A, Böhm M, Sawodny O, Tarín C (2021) A port-Hamiltonian approach to modeling the structural dynamics of complex systems. Applied Mathematical Modelling 89:1528–1546. https://doi.org/10.1016/j.apm.2020.07.03"
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"citation": "Wu Y, Hamroun B, Le Gorrec Y, Maschke B (2021) Reduced Order LQG Control Design for Infinite Dimensional Port Hamiltonian Systems. IEEE Trans Automat Contr 66(2):865–871. https://doi.org/10.1109/tac.2020.299737"
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"abstract": "The purpose of this paper is to show how the Timoshenko beam can be fruitfully described within the framework of distributed port Hamiltonian (dpH) systems so that rather simple and elegant considerations can be drawn regarding both the modeling and control of this mechanical system. After the dpH model of the beam is introduced, the control problem is discussed. In particular, it is shown how control approaches already presented in the literature can be unified, and a new control methodology is presented and discussed. This control methodology relies on the generalization to infinite dimensions of the concept of structural invariant (Casimir function) and on the extension to distributed systems of the so-called control by interconnection methodology. In this way, finite dimensional passive controllers can stabilize distributed parameter systems by shaping their total energy, i.e., by assigning a new minimum in the desired equilibrium configuration that can be reached if a dissipative effect is introduced.",
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"name": "State Key Laboratory of Advanced Power Transmission Technology, Beijing 102209, P. R. China"
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"abstract": "Power systems, including synchronous generator systems, are typical systems that strive for stable operation. In this paper, we numerically study the fault transient process of a synchronous generator system based on the first benchmark model. That is, we make it clear whether an originally stable generator system can restore its stability after a short time of unstable transient process. To achieve this, we construct a structure-preserving method and compare it with the existing and frequently-used predictor–corrector method. We newly establish a reductive form of the circuit system and accelerate the reduction process. Also a switching method between two stages in the fault transient process is given. Numerical results show the effectiveness and reliability of our method.",
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"volume": "16",
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{
"id": "d24e65c3-3989-5063-8a49-712dcb702354",
"identifiers": {
"doi": "10.1145/2883817.2883845"
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"type": "proceedings-article",
"title": "Safety Analysis of Automotive Control Systems Using Multi-Modal Port-Hamiltonian Systems",
"authors": [
{
"given": "Siyuan",
"family": "Dai",
"literal": null,
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"sequence": "first",
"affiliation": [
{
"name": "Vanderbilt University, Nashville, TN, USA"
}
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{
"given": "Xenofon",
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"name": "Vanderbilt University, Nashville, TN, USA"
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"abstract": "Safety analysis is important when designing and developing cyber-physical systems (CPS). An autonomous vehicle can be described as a complex CPS where the physical dynamics of the vehicle interact with the control systems. The challenge is ensuring safety despite nonlinearities, hybrid dynamics, and disturbances as well as complex cyber-physical interactions. In this paper, we present an approach for the safety analysis of automotive control systems using multimodal port-Hamiltonian systems (PHS). The approach uses the Hamiltonian function to represent the energy of the safe and unsafe states and employs passivity to prove that trajectories that begin in safe regions cannot enter unsafe regions. We first apply the approach to the safety analysis of a longitudinal vehicle dynamics composed with an adaptive cruise control (ACC) system. We then extend the results to the safety analysis of a combined longitudinal and lateral vehicle dynamics composed with an ACC and lane keeping control (LKC) system. Simulation results are presented to demonstrate the approach.",
"container_title": "Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control",
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"pages": "105--114",
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{
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"given": "Nguyen Tien",
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"name": "Hanoi University of Science & Technology, Hanoi, Vietnam and Thainguyen University of Technology, Thainguyen, Vietnam"
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"abstract": "This work presents a dynamic model of V-shaped thermal actuator using an assumption that all beams are considered to be homogeneous and the heat source is evenly distributed on those beams. Furthermore, the control scheme of this system is proposed from the view point of partial derivative equations (PDE) and separation method. The offline simulation results show that the outgoing parameters reflect exactly the physical nature of the subject and they are suitable with the simulation outcomes in the software Ansys. The work outcome would be a foundation for the model development and control design problem for micro motors using thermal expansion effects.",
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},
{
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{
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{
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},
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {},
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{
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{
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{
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{
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{
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"doi": "10.1145/3332305.3332318"
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"type": "proceedings-article",
"title": "Collaborative Hands-on Training on Haptic Simulators",
"authors": [
{
"given": "Angel R.",
"family": "Licona R.",
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"affiliation": [
{
"name": "Université de Lyon, INSA Lyon, Ampère, Villeurbanne, France"
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"given": "Fei",
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"name": "Université de Lyon, INSA Lyon, Ampère"
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"name": "Université de Lyon, INSA Lyon, Ampère"
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"given": "Minh Tu",
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"name": "Université de Lyon, INSA Lyon, Ampère"
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"abstract": "Medical trainees are required to acquire sufficient skills before touching a real patient. Nowadays, haptic simulators provide an effective solution but they do not facilitate an active supervision by a trainer who should show the right gestures in terms of motions and forces to apply, in the simulated environment. Dual user training systems aim at this purpose. Even though they permit a cooperative training, they generally dot not enable efficient demonstration/evaluation modes where the user who observes the person performing a manipulation is also able to feel the interaction forces, not only the motion. We earlier introduced the Energy Shared Control (ESC) architecture aiming at providing the latter function. It is modeled with the Port Hamiltonian framework and it embeds a Time Domain Passivity Controller, to compose a one degree-of-freedom (dof) dual-user haptic system for hands-on training. In this paper, we extend it to three dof with three identical haptic devices. Experiments bring information about its performance.",
"container_title": "Proceedings of the 2019 3rd International Conference on Virtual and Augmented Reality Simulations",
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"issue": "",
"pages": "39--45",
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{
"identifiers": {
"doi": "10.1016/j.jfranklin.2013.11.012"
},
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{
"identifiers": {
"doi": "10.1016/j.isatra.2012.09.003"
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"citation": "Ghorbanian, A., Rezaei, S. M., Khoogar, A. R., Zareinejad, M. & Baghestan, K. A novel control framework for nonlinear time-delayed Dual-master/Single-slave teleoperation. ISA Transactions vol. 52 268–277 (2013)"
},
{
"identifiers": {
"doi": "10.1177/0278364910397559"
},
"citation": "Khademian, B. & Hashtrudi-Zaad, K. Shared control architectures for haptic training: Performance and coupled stability analysis. The International Journal of Robotics Research vol. 30 1627–1642 (2011)"
},
{
"identifiers": {
"doi": "10.1109/iros.2016.7759771"
},
"citation": "Liu, F., Leleve, A., Eberard, D. & Redarce, T. An energy based approach for passive dual-user haptic training systems. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 5246–5251 (2016) doi:10.1109/iros.2016.7759771"
},
{
"identifiers": {},
"citation": "Liu F.. Liu , F. , Lelevé , A. , Redarce , T. , and Eberard , D . A dualuser teleoperation system with adaptive authority adjustment for haptic training . In Proceedings of the 4th International Workshop on Medical and Service Robots (MESROB) ( Nantes, France , July 2015 ). Liu, F., Lelevé, A., Redarce, T., and Eberard, D. A dualuser teleoperation system with adaptive authority adjustment for haptic training. In Proceedings of the 4th International Workshop on Medical and Service Robots (MESROB) (Nantes, France, July 2015). (2015)"
},
{
"identifiers": {
"doi": "10.1109/tcst.2004.843131"
},
"citation": "Nudehi, S. S., Mukherjee, R. & Ghodoussi, M. A shared-control approach to haptic interface design for minimally invasive telesurgical training. IEEE Transactions on Control Systems Technology vol. 13 588–592 (2005)"
},
{
"identifiers": {
"doi": "10.1016/j.jss.2009.04.018"
},
"citation": "Panait, L. et al. The Role of Haptic Feedback in Laparoscopic Simulation Training. Journal of Surgical Research vol. 156 312–316 (2009)"
},
{
"identifiers": {},
"citation": "Stramigioli. Stramigioli , S. Creating Artificial Damping By Means of Damping Injection. In Proceedings of the ASME Dynamic Systems and Control Division ( 1996 ), vol. DSC. 58 , pp. 601 -- 606 . Stramigioli, S. Creating Artificial Damping By Means of Damping Injection. In Proceedings of the ASME Dynamic Systems and Control Division (1996), vol. DSC.58, pp. 601--606. (1996)"
},
{
"identifiers": {},
"citation": "Stramigioli S.. Stramigioli , S. Modeling and ipc control of interactive mechanical systems - a coordinate-free approach . In Lecture Notes in Control and Information Sciences , vol. 266 . Springer , 2001 . Stramigioli, S. Modeling and ipc control of interactive mechanical systems - a coordinate-free approach. In Lecture Notes in Control and Information Sciences, vol. 266. Springer, 2001. (2001)"
},
{
"identifiers": {
"doi": "10.1109/tbme.2012.2236091"
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"citation": "Sutherland, C., Hashtrudi-Zaad, K., Sellens, R., Abolmaesumi, P. & Mousavi, P. An Augmented Reality Haptic Training Simulator for Spinal Needle Procedures. IEEE Transactions on Biomedical Engineering vol. 60 3009–3018 (2013)"
},
{
"identifiers": {
"doi": "10.1109/icra.2011.5980210"
},
"citation": "Van Damme, M. et al. Estimating robot end-effector force from noisy actuator torque measurements. 2011 IEEE International Conference on Robotics and Automation (2011) doi:10.1109/icra.2011.5980210"
},
{
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"doi": "10.1016/j.medengphy.2015.11.021"
},
"citation": "Vaughan, N., Dubey, V. N., Wainwright, T. W. & Middleton, R. G. A review of virtual reality based training simulators for orthopaedic surgery. Medical Engineering & Physics vol. 38 59–71 (2016)"
},
{
"identifiers": {
"doi": "10.1016/j.isatra.2017.02.010"
},
"citation": "Zakerimanesh, A., Hashemzadeh, F. & Ghiasi, A. R. Dual-user nonlinear teleoperation subjected to varying time delay and bounded inputs. ISA Transactions vol. 68 33–47 (2017)"
},
{
"identifiers": {
"doi": "10.1016/j.jamcollsurg.2013.09.016"
},
"citation": "Zevin, B., Aggarwal, R. & Grantcharov, T. P. Surgical Simulation in 2013: Why Is It Still Not the Standard in Surgical Training? Journal of the American College of Surgeons vol. 218 294–301 (2014)"
}
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"doi": "10.1145/3631726.3631749"
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"type": "proceedings-article",
"title": "Hamiltonian based AUV navigation using finite-time trajectory tracking control",
"authors": [
{
"given": "Jiankuo",
"family": "Cui",
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"name": "College of Computer Science and Technology, Jilin University, CN"
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"given": "Ying",
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"name": "College of Computer Science and Technology, Jilin University, CN"
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"given": "Zheng",
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"name": "University of Electronic Science and Technology of China, CN"
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"given": "Junhong",
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"abstract": "Autonomous underwater vehicles (AUVs) have become an important tool for marine scientific research, and their intelligent control technology has also received widespread attention. This paper proposes a finite-time asymptotic stabilization control scheme via the Hamiltonian method for 3D trajectory tracking of AUV with time-varying external disturbances. We can effectively avoid the drawback of approximate linearization by using orthogonal decomposition technology to transform the AUV trajectory tracking mathematical model into a port controlled Hamiltonian (PCH) model. In addition, we design a finite-time trajectory controller for AUVs using the Hamiltonian control theory. This can improve control accuracy by reducing the convergence time of the AUV trajectory tracking system and avoiding overshoot. The theoretical analysis proves the finite-time stability of the AUV 3D trajectory tracking closed-loop control system based on the finite-time Lyapunov stability theory, and the simulation results verify the effectiveness and superiority of the designed control law.",
"container_title": "Proceedings of the 17th International Conference on Underwater Networks & Systems",
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"pages": "1--5",
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"created_date": "2024-06-12",
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"references": [
{
"identifiers": {
"doi": "10.1080/00207170701268882"
},
"citation": "Aguiar AP, Pascoal AM (2007) Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents. International Journal of Control 80(7):1092–1108. https://doi.org/10.1080/0020717070126888"
},
{
"identifiers": {
"doi": "10.1016/j.oceaneng.2020.108439"
},
"citation": "Cui J, Yang R, Pang C, Zhang Q (2021) Observer-based adaptive robust stabilization of dynamic positioning ship with delay via Hamiltonian method. Ocean Engineering 222:108439. https://doi.org/10.1016/j.oceaneng.2020.10843"
},
{
"identifiers": {},
"citation": "Fossen I, Trondheim, Norway, Org. Number NO 985 195 005 MVA, www. marinecybernetics. com, ISBN: 82 92356 00 2 (2002)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
"citation": "Fujimoto K, Sakurama K, Sugie T (2003) Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39(12):2059–2069. https://doi.org/10.1016/j.automatica.2003.07.00"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2022.105325"
},
"citation": "Hoang NH, Nguyen TS, Le TKP, Phan TTH, Hussain MA, Dochain D (2022) Trajectory tracking for nonlinear systems using extended quadratic port-Hamiltonian models without input and state coordinate transformations. Systems & Control Letters 167:105325. https://doi.org/10.1016/j.sysconle.2022.10532"
},
{
"identifiers": {
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"title": "Continuous Finite-Time Terminal Sliding Mode IDA-PBC Design for PMSM with the Port-Controlled Hamiltonian Model",
"authors": [
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"abstract": "Finite-time control scheme for speed regulation of permanent magnet synchronous motor (PMSM) is investigated under the port-controlled Hamiltonian (PCH), terminal sliding mode (TSM), and fast TSM stabilization theories. The desired equilibrium is assigned to the PCH structure model of PMSM by maximum torque per ampere (MTPA) principle, and the desired Hamiltonian function of state error is constructed in the form of fractional power structure as TSM and fast TSM, respectively. Finite-time TSM and fast TSM controllers are designed via interconnection and damping assignment passivity-based control (IDA-PBC) methodology, respectively, and the finite-time stability of the desired equilibrium point is also achieved under the PCH framework. Simulation results validate the improved performance of the presented scheme.",
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"citation": "(2009)"
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"doi": "10.1049/ip-epa:20020187"
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"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
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{
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"title": "Robust Simultaneous Stabilization Control Method for Two Port-Controlled Hamiltonian Systems: Controller Parameterization",
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"given": "Zhong",
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"name": "School of Energy Science and Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, China"
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"name": "School of Computer Science and Educational Software, Guangzhou University, Guangzhou, Guangdong 510006, China"
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"abstract": "This paper investigates robust simultaneous stabilization (RSS) control method for two port-controlled Hamiltonian (PCH) systems and proposes results on the design of simultaneous stabilization controller with parameters for such systems. Firstly, two PCH systems are studied. Using the dissipative Hamiltonian structural properties, the systems are combined to generate an augmented PCH system. When there are external disturbances in the systems, a robust controller with parameters is designed for the systems. Secondly, an algorithm for solving parameters of the controller is proposed with symbolic computation. Finally, an illustrative example is presented to show that the RSS controller obtained in this paper works very well.",
"container_title": "Abstract and Applied Analysis",
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"doi": "10.1109/9.871758"
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"citation": "Maschke, B., Ortega, R. & Van Der Schaft, A. J. Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation. IEEE Trans. Automat. Contr. 45, 1498–1502 (2000)"
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"doi": "10.1080/00207170050201762"
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"citation": "Xi, Z. & Cheng, D. Passivity-based stabilization and H 8 control of the Hamiltonian control systems with dissipation and its applications to power systems. International Journal of Control 73, 1686–1691 (2000)"
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"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
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"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
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"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
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"abstract": "This paper investigates the control problem of magnetic levitation system, in which velocity feedback signal is influenced by stochastic disturbance. Firstly, single‐degree‐freedom magnetic levitation is regarded as an energy‐transform action device. From the view of energy‐balance relation, the magnetic levitation system is transformed into port‐controlled Hamiltonian system model. Next, based on the Hamiltonian structure, the control law of magnetic levitation system is designed by applying Lyapunov theory. Finally, the simulation verifies the correctness of the proposed results.",
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"given": "Rong-lin",
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"abstract": "In order to achieve better motion accuracy and higher robustness of the shipborne rocket launcher position servo system driven by a permanent magnet synchronous motor (PMSM), a passivity‐based controller based on active disturbance rejection control (ADRC) optimized by improved particle swarm optimization‐back propagation (IPSO‐BP) algorithm is proposed in this paper. The convenient method of interconnection and damping assignment and passivity‐based control (IDA‐PBC) is adopted to establish the port controlled Hamiltonian system with dissipation (PCHD) model of PMSM. To further enhance the robustness and adaptability of traditional ADRC, an BP algorithm is introduced to on‐line update the proportional, integral, and derivative gains of ADRC. Furthermore, to improve the learning capability, the improved PSO algorithm is adopted to optimize the learning rates of the back propagation neural networks. The results of numerical simulation and prototype test indicate that the proposed IPSO‐BP‐ADRC‐PBC controller has better static and dynamic performance than the ADRC‐PBC and BP‐ADRC‐PBC controller with fixed learning rate.",
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{
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"doi": "10.1155/2016/9724917"
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"citation": "Lin, S. & Zhang, W. An adaptive sliding-mode observer with a tangent function-based PLL structure for position sensorless PMSM drives. International Journal of Electrical Power & Energy Systems 88, 63–74 (2017)"
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"identifiers": {},
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"identifiers": {},
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"identifiers": {
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002)"
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"doi": "10.1155/2020/5320756"
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"title": "Finite-Time Control for a Coupled Four-Tank Liquid Level System Based on the Port-Controlled Hamiltonian Method",
"authors": [
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"given": "Tao",
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"abstract": "This work investigates the finite-time control problem for a nonlinear four-tank cross-coupled liquid level system by the port-controlled Hamiltonian (PCH) model. A fixed-free methodology is exhibited which can be used to simplify the controller design procedure. To get an adjustable convergent gain of the finite-time control, a feasible technique named damping normalization is proposed. A novel parameter autotuning algorithm is given to clarify the principle of choosing parameters of the PCH method. Furthermore, a finite-time controller is designed by a state-error desired Hamiltonian function, and the relationship between the settling time and a parameter is given, which can be applied in practical engineering easily to adjust the settling time according to the industrial need. Finally, simulation and experimental results verify the effectiveness of the proposed algorithm.",
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"abstract": "In this paper, a finite-time simultaneous stabilization problem is investigated for a set of stochastic port-controlled Hamiltonian (PCH) systems over delayed and fading noisy channels. The feedback control signals transmitted via a communication network suffer from both constant transmission delay and fading channels which are modeled as a time-varying stochastic model. First, on the basis of dissipative Hamiltonian structural properties, two stochastic PCH systems are combined to form an augmented system by a single output feedback controller and then sufficient conditions are developed for the semiglobally finite-time simultaneous stability in probability (SGFSSP) of the resulting closed-loop systems. The case of multiple stochastic PCH systems is also considered and a new control scheme is proposed for the systems to save costs and achieve computational simplification. Finally, an example is provided to verify the feasibility of the proposed simultaneous stabilization method.
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"given": "Yunbo",
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"name": "School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China"
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"name": "Lanzhou Wanli Aviation Electromechanical Limited Liability Company, Lanzhou 730070, China"
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"type": "journal-article",
"title": "Stabilization Design of Three-Phase LCL-Filtered Grid-Connected Inverter Using IDA-PBC Controller",
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"abstract": "With the aim of improving the stability of renewable energy system with high permeability in the weak grid, a modified passivity-based control based on interconnection and damping assignment (IDA) is presented for LCL-filtered grid-connected inverters to eliminate the interactive resonances. The object is modeled in the form of port-controller Hamiltonian, including the partial differential of stored energy function. On the premise of ensuring Lyapunov stability, a more flexible interconnection matrix design method is applied to simplify the design process. The closed-loop stability is ensured with the selected Hamiltonian energy function at the desired balanced point. Moreover, a step-by-step design process for damping gains is provided to guarantee stable operation and fast dynamic response under variation of complex grid impedance. With the designed injected damping parameters, considering the effect of delay, it is possible for the real part of the inverter output admittance to be positive within the switching frequency. The performance and robustness of the proposed method for LCL-filtered inverter system are validated via simulated and experimental results under both unbalanced and balanced grid conditions.",
"container_title": "International Transactions on Electrical Energy Systems",
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"doi": "10.1155/2024/3495503"
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"type": "journal-article",
"title": "Dynamic Performance Analysis of Semiactive Vehicle ISD Suspension Based on the Power‐Driven‐Damper Strategy",
"authors": [
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"given": "Yujie",
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"given": "Jinsen",
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"abstract": "In this paper, the vehicle ISD (inerter‐spring‐damper) suspension and power‐driven‐damper control strategy are combined to the suspension design, and the power‐driven‐damper semiactive ISD suspension is proposed. The dynamic models of the passive suspension S1 and two semiactive ISD suspensions S2 and S3 are established. Based on the port‐controlled Hamiltonian theory, the power‐driven‐damper semiactive control strategy is designed by analyzing the power transfer of suspension S3. Then, the parameters of the two models are optimized by the particle swarm optimization algorithm, and the optimization results show that the suspension S3 has better performance. The influence of the semiactive damping coefficient, the spring stiffness, and the inertance on the vibration suppression performance is investigated based on the suspension S3. The effect of parameter perturbation on power‐driven‐damper semiactive vehicle ISD suspension illustrates that the designed semiactive vehicle ISD suspension has better ride comfort in a wider range frequency and good robust performance.",
"container_title": "Shock and Vibration",
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"abstract": "Credible control and overall stabilization of closed-loop nonlinear systems presented in a port-controlled hamiltonian structure (PCH-D) were forever the development of the simultaneous interconnection and damping assignment passivity-based control (SIDA-PBC) method. The robustness and reliability of the method called into question against noise and certainly modelling errors. Indeed, a new scheme has been presented to control a doubly fed induction generator (DFIG) based on the energy form and exploiting the electrical parameters of the closed loop system. The results obtained provide a new technique and implement more freedom when designing the diagram of the advanced controller during the production of active power. The contribution of this paper is researching on the advanced nonlinear methodes used, many simulations were carried out in simulation using the MATLAB/Simulink environment under important operating conditions, allowing to demonstrate the feasibility of the proposed method and verify the performance considering the robustness.",
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"title": "Novel nonlinear control structure for vector control of SPIM drive using BS PCH",
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"abstract": "This paper presents a novel structure combining the port-controlled Hamiltonian (PCH) and Backstepping (BS) nonlinear control for the vector control of the six-phase induction motor (SPIM). In this new scheme, to improve the outer loop’s robustness, the BS technique using the integral tracking errors action is proposed in the speed and flux controllers design. The advantage of this proposed control law is not to increase the complexity of differential equation resolution due to being not increased system states numbers. To enhance more the performance of SPIM drives (SPIMD), port-controlled Hamiltonian (PCH) scheme is used in the inner current loop controllers. In this proposed PCH current controller, the stabilization of controller is achieved via system passivity. In that, the interconnection and damping matrix functions of PCH system are shaped so that the physical (Hamiltonian) system structure is preserved at the closed loop level and the closed loop energy function is equal to the difference between the physical energy of the system and the energy supplied by the controller. The proposed control design is based on combination PCH and BS techniques improve significantly performance and robustness. The proposed speed control scheme is validated by Matlab-Simulink software.",
"container_title": "International Journal of Power Electronics and Drive Systems (IJPEDS)",
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"abstract": "This paper presents an extension work on the application of interconnection and damping assignment passivity-based controller (IDA-PBC) from the conventional H-bridge inverter to a 5-level Cascaded H-bridge Multilevel Inverter (CHMI). With the controller, the inductor current and the voltage capacitor track the desired reference of the inverter to ensure that the output voltage maintains its regulation while the Total Harmonic Distortion (THD) is kept at low levels with fast transient response. It is designed based on the Port-Control Hamiltonian theory exploiting the dissipation properties of the averaged model of inverter circuits. The results obtained have proven that the IDA-PBC previously developed for the H-bridge inverter can be easily extended and applied to the CHMI circuit. The simulation results showed that the IDA-PBC is able to maintain the output voltage regulation in both circuits in the case of no-load to full-load condition, load uncertainty, and structural uncertainty while maintaining THD of less than 5%. However, in all cases, CHMI has shown better performance in terms of THD percentage and transient response compared to the H-bridge inverter, which are 290 µs and 150 µs respectively.",
"container_title": "International Journal of Power Electronics and Drive Systems (IJPEDS)",
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"abstract": "This paper investigates a passivity-based control (PBC) for DC Motor drive system with PWM. In the paper, the port-controlled Hamiltonian system with dissipation (PCHD) model of the system is built and the interconnection and damping assignment passivity-based control (IDA-PBC) method is used for the design of the controller. The system simulation model is built based on MATLAB/Simulink and the simulation results validate that the DC Motor drive system based on PBC controller has excellent dynamic performances such as robustness and transient response, compared with the traditional PI controller.",
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"abstract": "Synchronous generator system is a complicated dynamic system for energy transmission, which plays an important role in modern industrial production. In this article, we propose some predictor-corrector methods and structure-preserving methods for a generator system based on the first benchmark model of subsynchronous resonance, among which the structure-preserving methods preserve a Dirac structure associated with the so-called port-Hamiltonian descriptor systems. To illustrate this, the simplified generator system in the form of index-1 differential-algebraic equations has been derived. Our analyses provide the global error estimates for a special class of structure-preserving methods called Gauss methods, which guarantee their superior performance over the PSCAD/EMTDC and the predictor-corrector methods in terms of computational stability. Numerical simulations are implemented to verify the effectiveness and advantages of our methods.",
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"title": "Finite-time stabilization of port-controlled Hamiltonian systems with nonvanishing disturbances",
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"given": "Baozeng",
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"name": "School of Automation, Southeast University, PR China"
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"name": "Key Laboratory of Measurement and Control of CSE, Ministry of Education, PR China"
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"name": "School of Automation, Southeast University, PR China"
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"abstract": "This paper concerns the problem of finite-time stabilization of nonlinear port-controlled Hamiltonian systems subject to nonvanishing disturbances via a composite control manner. The composite controller is developed by combining the damping injection, the finite-time feedback control and the finite-time disturbance observer techniques. The key idea is that a finite-time disturbance observer is designed to estimate disturbances and the estimation of disturbances is employed to feedforward compensate the disturbances. Finite-time stability analysis for the augmented system is presented. An example of a nonlinear circuit system with simulation results demonstrates the effectiveness of the proposed method.",
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},
{
"given": "Mohammed",
"family": "Boura",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Department of Science and technology, University of Tahri Mohamed Bechar, Bechar, Algeria"
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"abstract": "The current study presents a robust sensorless control using passivity based control (PBC) combined with high gain observer (HGO). The proposed controller is applied to control the generated doubly-fed induction generator (DFIG) active and reactive power installed on a variable speed wind energy conversion system. The control objective is used to regulate independently the DFIG stator active and reactive power, which are decoupled by using the field oriented control technique. Additionally, this process leads to reduce the cost of control scheme by eliminating the speed sensor. Firstly, the DFIG is modeled under the port controlled Hamiltonian (PCH) model, as well as the method of simultaneous injection damping. Then, the DFIG is further modeled by assignment passivity based on the simultaneous injection damping and assignment (SIDA-PBC) control of the obtained model under such conditions and a comparison with the fuzzy sliding mode controller is carried out. Furthermore, the HGO is selected in order to estimate the rotor position and the speed from the measurement of the DFIG currents and voltages, and compared with fuzzy sliding mode observer. For testing the proposed control scheme performance, a 1.5 MW DFIG system is developed and simulated using MATLAB/Simulink. The obtained results demonstrate the effectiveness of the proposed control scheme in the presence of various DFIG parameters variation. Additionally, the control objective is achieved without speed sensor.",
"container_title": "Wind Engineering",
"publication_year": "2023",
"volume": "47",
"issue": "1",
"pages": "86--103",
"publisher": "SAGE Publications",
"event": "",
"keywords": [],
"created_date": "2022-09-14",
"permalink": "sensorless-passivity-based-control-of-doubly-fed-induction-generators-in-variable-speed-wind-turbine-systems-based-on-high-gain-observer",
"references": [
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}
]
},
{
"id": "04689351-5292-5160-8159-a764adcebe2d",
"identifiers": {
"doi": "10.1177/09544070221147364"
},
"type": "journal-article",
"title": "Design and implementation of passivity-based controller for active suspension system using port-Hamiltonian observer",
"authors": [
{
"given": "Pramod",
"family": "Sistla",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0002-8555-7646",
"authenticated-orcid": false,
"sequence": "first",
"affiliation": [
{
"name": "Department of Electrical and Electronics Engineering, National Institute of Technology Karnataka (NITK), Surathkal, Karnataka, India"
}
]
}
},
{
"given": "Krishnan",
"family": "Chemmangat",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Department of Electrical and Electronics Engineering, National Institute of Technology Karnataka (NITK), Surathkal, Karnataka, India"
}
]
}
},
{
"given": "Sheron",
"family": "Figarado",
"literal": null,
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"affiliation": [
{
"name": "School of Electrical Sciences, Indian Institute of Technology Goa, Ponda, Goa, India"
}
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],
"abstract": "The objective of this study is to design and implement an observer for quarter-car active suspension system in Port-Hamiltonian form. A novel state observer is designed for active suspension system modelled in port-Hamiltonian form to estimate the states in presence of road disturbances. The observer is designed considering suspension deflection alone as the output, which is an easily measurable output. Performance of the proposed observer is evaluated experimentally with road disturbance input mimicking a sudden bump and a continuously varying road input, and proven to be effective in minimising the error dynamics in presence of bounded unmodelled disturbances. To prove the effectiveness of the state-estimator, an Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) designed using the desired physical properties of the closed-loop system is implemented using the observer states. Experimental results of the controller implemented using the designed state observer show good improvement in the ride comfort, ride stability and suspension stroke of the active suspension system, which proves the effectiveness of the proposed port-Hamiltonian observer in terms of minimising the error dynamics.",
"container_title": "Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering",
"publication_year": "2023",
"volume": "237",
"issue": "14",
"pages": "3367--3379",
"publisher": "SAGE Publications",
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"keywords": [],
"created_date": "2023-01-12",
"permalink": "design-and-implementation-of-passivity-based-controller-for-active-suspension-system-using-port-hamiltonian-observer",
"references": [
{
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},
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},
{
"identifiers": {
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
"id": "772b52cc-3513-5b4b-a3f3-f54c5feb63be",
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"doi": "10.1177/0959651816643668"
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"type": "journal-article",
"title": "Fuzzy coordinated control of contact constraint problem for robot system with compliant actuators",
"authors": [
{
"given": "Dunwen",
"family": "Wei",
"literal": null,
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"affiliation": [
{
"name": "School of Mechanical Engineering, Northwestern Polytechnical University, China"
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}
},
{
"given": "Wenjie",
"family": "Ge",
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"name": "School of Mechanical Engineering, Northwestern Polytechnical University, China"
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"abstract": "A robot system would inevitably cause unpredictable collisions in an unknown or unstructured environment. In this paper, the controllability conditions of a general robot system with compliant actuators are proposed to judge and assess the contact constraints based on Port-based Hamiltonian. In order to satisfy the proposed controllability conditions, one fuzzy coordinated control method inspired from the pathfinding of a blind or normal person in dark environment is proposed to deal with the problem of contact constraint. This method achieves velocity–torque combined control without using force or vision sensors compared with conventional methods. Finally, the experiments validate the feasibility of the controllability conditions to deal with contact constraint problems. The results show that the fuzzy coordinated controller can work more efficiently and effectively to detect and respond to contact constraints compared with the proposed proportional control.",
"container_title": "Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering",
"publication_year": "2016",
"volume": "230",
"issue": "7",
"pages": "640--650",
"publisher": "SAGE Publications",
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"keywords": [],
"created_date": "2016-05-12",
"permalink": "fuzzy-coordinated-control-of-contact-constraint-problem-for-robot-system-with-compliant-actuators",
"references": [
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"given": "Cecilia",
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"abstract": "Passivity-based control of under-actuated mechanical systems with nonlinear friction effects in the generalized coordinates of motion is analyzed in this paper. Nonlinear friction is modeled with a modified LuGre dynamic friction model. The internal states of the dynamic friction model are incorporated as generalized coordinates in a port-controlled Hamiltonian formulation for the complete mechanical system in such a way that all passivity properties of this formulation are preserved for the extended generalized coordinates system. Interconnection and damping assignment passivity-based control laws are developed for the models of two case studies: a building with a magneto-rheological damper and a double pendulum. Simulation results are also presented.",
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"abstract": "This study presents the design of interconnection and damping assignment passivity-based control for active suspension systems. It is well known that interconnection and damping assignment passivity-based control’s design methodology is based on the physical properties of the system where the kinetic and potential energy profiles are shaped, and asymptotic stability is achieved by damping injection. Based on the choice of control variables, special cases of the control law are derived, and tuning of the control law with the physical meaning of the variables is demonstrated along with their simulation results. The proposed control law is experimentally validated on a scaled model of a quarter-car active suspension system with different road profiles, varying load conditions, and noise and delay in the sensor measurements and actuator respectively. The results are compared with that of an uncontrolled system with linear quadratic regulator and sliding mode control.",
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"title": "Design of a novel hybrid control for permanent magnet synchronous generator–based wind energy conversion system",
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"name": "Institute of Water Resources and Hydropower Research, Northwest A&F University, P. R. China"
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"name": "Key Laboratory of Agricultural Soil and Water Engineering in Arid and Semiarid Areas, Ministry of Education, Northwest A&F University, P. R. China"
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"abstract": "With the ever-increasing permeation of wind energy into electrical grids, the low operating efficiency and poor stability seem to become major challenges for the power industry because of the stochastic characteristic of wind speeds. Aiming at these problems, this article designs a novel hybrid control method for a permanent magnet synchronous generator–based wind energy conversion system. A port-controlled Hamiltonian with dissipation model is proposed to apply in the models of the machine and grid-side converters of the permanent magnet synchronous generator–based wind energy conversion system. Then, this port-controlled Hamiltonian with dissipation model is used to the energy shaping method of interconnection and damping assignment. The hybrid control strategy, containing the outer-loop proportional–integral control and inner-loop passivity-based control, is finally designed in this article. To achieve the analysis, a Simulink model of the 1.5 MW permanent magnet synchronous generator–based wind energy conversion system is established under various types of wind speeds. A comparative analysis between the proposed hybrid control strategy and conventional proportional–integral vector control is conducted through the electrical behaviors and the harmonic distortion rates. The simulation results verify that the hybrid control strategy has better regulation performance than that of conventional proportional–integral control strategy in terms of maintaining at optimal state and improving system stability. It is also demonstrated that the proposed control strategy optimizes the quality of supplied power, which is of significance to reduce the harmonic pollution of wind energy.",
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"issue": "17-18",
"pages": "2357--2372",
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"title": "Energy dissipation formulas for boundary control of elastic structures: A higher-order Green’s identity approach",
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"given": "Toufik",
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"abstract": "This paper presents explicit formulas for the energy dissipation rate in boundary control of elastic structures using higher-order Green’s identities in a port-Hamiltonian framework. A unified expression is derived for systems of order 2 m that generalizes known results for Timoshenko beams and Kirchhoff plates. This formula facilitates passivity verification and leads directly to optimal linear-quadratic boundary feedback laws in the form of viscous damping. The analysis is extended to non-collocated boundary control and establishes generalized passivity conditions. Numerical simulations validate the exponential stability achieved with the proposed control laws and illustrate the trade-offs between damping strength and control effort.",
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"abstract": "During operation, high-speed elevators experience significant longitudinal vibrations in their car systems due to variations in shaftway conditions and system parameter uncertainties, affecting ride comfort and safety. Existing active control methods often rely on absolute motion measurements, leading to high sensor costs and practical constraints. To address this issue, this study proposes an active control strategy based on Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC), using only relative displacement and velocity feedback. A seven-degree-of-freedom longitudinal vibration model of the nonlinear high-speed elevator car system is first established. Then, based on the Port-Hamiltonian (PH) principle and relative-state reconstruction, the PH form of the car system is constructed. Through energy shaping and damping injection, the IDA-PBC controller transforms the original nonlinear system into a linear system with ideal damping performance, and the final control law depends only on the relative displacement and velocity of the car system. Conditions for global asymptotic stability are derived, and parameter selection criteria are proposed to enhance robustness against model parameter uncertainties. Comparative simulations with passive, Skyhook, and PID control are conducted under random excitation and emergency braking, and parameter sweep simulations are performed by varying key mass, stiffness, and damping parameters within ± 20% of their nominal values. The results show that the proposed method reduces the typical longitudinal vibration acceleration by more than 60% in the considered simulation cases, while the vibration responses remain bounded under the tested parameter variations. This study provides a theoretical and numerical basis for further developing active longitudinal vibration control strategies for high-speed elevators.",
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"abstract": "In order to achieve high motion accuracy and better robustness of the rocket launcher position servo system driven by a permanent magnet synchronous motor, a passivity-based controller based on improved active disturbance rejection control is proposed in this article. The convenient method of interconnection and damping assignment and passivity-based control is adopted to establish the port-controlled Hamiltonian system with dissipation model of permanent magnet synchronous motor. To further enhance the robustness and adaptability of the traditional active disturbance rejection controller, an improved active disturbance rejection control strategy–based radical basis function neural network is introduced to on-line update the proportional and derivative gains of improved active disturbance rejection controller. The results of numerical simulation and bench test indicate that the proposed improved active disturbance rejection control passivity–based control algorithm has advantages of smaller overshoot, fast response, small steady-state error, and strong robustness. It proves that the proposed control scheme is effective and suitable.",
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"type": "journal-article",
"title": "Stability analysis and decentralized control of inverter-based ac microgrid",
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"abstract": "This work considers the problem of decentralized control of inverter-based ac micro-grid in different operation modes. The main objectives are to (i) design decentralized frequency and voltage controllers, to gather with power sharing, without information exchange between microsources (ii) design passive dynamic controllers which ensure stability of the entire microgrid system (iii) capture nonlinear, interconnected and large-scale dynamic of the micro-grid system with meshed topology as a port-Hamiltonian formulation (iv) expand the property of shifted-energy function in the context of decentralized control of ac micro-grid (v) analysis of system stability in large signal point of view. More precisely, to deal with nonlinear, interconnected and large-scale structure of micro-grid systems, the port-Hamiltonian formulation is used to capture the dynamic of micro-grid components including microsource, distribution line and load dynamics as well as interconnection controllers. Furthermore, to deal with large signal stability problem of the microgrid system in the grid-connected and islanded conditions, the shifted-Hamiltonian energy function is served as a storage function to ensure incremental passivity and stability of the microgrid system. Moreover, it is shown that the aggregating of the microgrid dynamic and the decentralized controller dynamics satisfies the incremental passivity. Finally, the effectiveness of the proposed controllers is evaluated through simulation studies. The different scenarios including grid-connected and islanded modes as well as transition between both modes are simulated. The simulation conforms that the decentralized control dynamics are suited to achieve the desired objective of frequency synchronization, voltage control and power sharing in the grid-connected and islanded modes. The simulation results demonstrate the effectiveness of the proposed control strategy.",
"container_title": "Protection and Control of Modern Power Systems",
"publication_year": "2019",
"volume": "4",
"issue": "1",
"pages": "",
"publisher": "Institute of Electrical and Electronics Engineers (IEEE)",
"event": "",
"keywords": [
"Decentralized control; Inverter-based micro-grid; Frequency and voltage control; Active and reactive power sharing; Incremental passivity; Port-Hamiltonian framework; Shifted-energy function"
],
"created_date": "2019-04-01",
"permalink": "stability-analysis-and-decentralized-control-of-inverter-based-ac-microgrid",
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"title": "High-performance delay-based photonic reservoir computing",
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"given": "Kirubel",
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"given": "Solomon M.",
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"abstract": "Delay-based reservoir computing with temporally multiplexed virtual nodes provides a hardware-efficient platform for photonic implementations, yet parameter selection is often guided by empirical tuning. Here, we report a systematic experimental study of a single-node delay-based photonic reservoir computer that resolves the key physical and dynamical factors governing computational performance using the nonlinear channel equalization (NCE) benchmark. By mapping the bifurcation landscape of the system using port-Hamiltonian formulation, we establish a direct correspondence between operating regime and NCE performance as well as memory capacity, showing that optimal performance occurs near, but below, the onset of oscillatory and chaotic dynamics. We further provide a unified comparison of temporal optimization strategies, including delay–input period desynchronization and controlled local node coupling, within the same physical platform. At a 19 dB signal-to-noise ratio, the symbol error rate (SER) decreases with increasing node count before saturating beyond N ≈ 50, indicating task-dependent performance saturation and practical scaling constraints in delay-based reservoir architectures. A readout shifting strategy further improves the performance, achieving an SER of 0.003. These results provide physics-informed insights into parameter selection and architectural optimization in delay-based photonic reservoir computing for scalable, high-speed operation.",
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"abstract": "The finite-time stabilization and finite-timeH∞control problems of Port-controlled Hamiltonian (PCH) systems with disturbances and input saturation (IS) are studied in this paper. First, by designing an appropriate output feedback, a strictly dissipative PCH system is obtained and finite-time stabilization result for nominal system is given. Second, with the help of the Hamilton function method and truncation inequality technique, a novel output feedback controller is developed to make the PCH system finite-time stable when IS occurs. Further, a finite-timeH∞controller is designed to attenuate disturbances for PCH systems with IS, and sufficient conditions are presented. Finally, a numerical example and a circuit example are given to reveal the feasibility of the obtained theoretical results.",
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"abstract": "Context: This study focuses on advanced control techniques for permanent magnet synchronous machines (PMSMs), which are crucial in various industrial applications due to their efficiency and precise control requirements. Passivity-based control methods offer stability and performance, addressing these challenges effectively. Method: A passivity-based model predictive control (MPC) is proposed, integrating port-Hamiltonian representation with optimization. Stability theorems are theoretically explored. The simulation evaluates the performance of our proposal under different prediction horizons and stability constraints. Results: The proposed MPC is analyzed across several horizons, both including and excluding passivity and exponential stability constraints. Conclusions: This study presents a novel passivity-based MPC approach for PMSM speed regulation, highlighting the importance of stability constraints. Future research should extend this controller to synchronous machines in power systems and voltage source converters.",
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"abstract": "In this paper, parametric model order reduction of linear time-invariant systems by matrix interpolation is adapted to large-scale systems in port-Hamiltonian form. A new weighted matrix interpolation of locally reduced models is introduced in order to preserve the port-Hamiltonian structure, which guarantees the passivity and stability of the interpolated system. The performance of the new method is demonstrated by technical examples.",
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"abstract": "Dieser Beitrag präsentiert ein Rahmenwerk für die Finite-Elemente-Approximation verteilt-parametrischer Port-Hamiltonscher Systeme. Das vorgeschlagene Diskretisierungsverfahren erhält nicht nur die Port-Hamiltonsche Struktur, sondern auch wichtige Erhaltungseigenschaften des zugrundeliegenden infinit-dimensionalen Systems. Als Anwendungen werden eine Übertragungsleitung und ein randgespeistes Maxwellsches System betrachtet. Numerische Experimente zeigen, dass die Finite-Elemente-Methode durch Verwendung von Formfunktionen höherer Ordnung höhere Konvergenzraten als bestehende Ansätze zur strukturerhaltenden Diskretisierung Port-Hamiltonscher Systeme erzielt. Bei vorgegebener Fehlertoleranz führt das vorgeschlagene Verfahren daher zu einer beträchtlichen Reduktion der Dimension des finit-dimensionalen Modells.",
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"name": "Johannes Kepler Universität Linz, Linz"
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"abstract": "In diesem Beitrag wird gezeigt, wie man ausgehend von geometrischen Strukturen, welche man Tor-basierten Hamilton'schen Systemen im finit-dimensionalen Szenario zugrundelegen kann, durch deren Verallgemeinerung unterschiedliche Tor-basierte Hamilton'sche Darstellungen im Rahmen partieller Differentialgleichungen gewinnt. Diese unterschiedlichen Systemdarstellungen werden anhand eines mechanischen Beispiels, dem Timoshenko Balken, gegenübergestellt und diskutiert. Hauptaugenmerk liegt auf der Analyse von strukturellen Eigenschaften der Differentialgleichungen, welche dann aus regelungstechnischer Sicht von Bedeutung sind.",
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"title": "Energiebasierte Regelung von verteilt-parametrischen Hamiltonschen Systemen mit Hamiltonschen Dichten zweiter Ordnung",
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"given": "Hubert",
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"name": "Johannes Kepler Universi tät Linz, Institut für Regelungstechnik und Prozessautomatisierung, Altenberger Straße 69, A-4040 Linz Austria"
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"name": "Johannes Kepler Universi tät Linz, Institut für Regelungstechnik und Prozessautomatisierung, Altenberger Straße 69, A-4040 Linz Austria"
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"abstract": "Dieser Beitrag behandelt die Modellierung und Regelung von räumlich eindimensionalen, verteilt-parametrischen Tor-basierten Hamiltonschen Systemen mit Hamiltonschen Dichten zweiter Ordnung. Dabei beschränkt sich die Systembeschreibung auf den evolutionären Zugang. Zur Regelung dieser Systemklasse wird die bekannte Methode ,,Regelung basierend auf strukturellen Invarianten” auf diese Klasse erweitert. Die Leistungsfähigkeit dieser Methode wird anhand der energiebasierten Regelung eines Euler–Bernoulli Balkens mit Randeingriff illustriert. Abschließend werden aktuelle Forschungsfragen, bezüglich einer Erweiterung auf Systeme mit zweidimensionalen Ortsgebiet, erörtert.",
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"title": "Discrete port-Hamiltonian formulation and numerical approximation for systems of two conservation laws",
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"given": "Paul",
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"name": "Univ Lyon, Université Claude Bernard Lyon 1, CNRS, LAGEP UMR 5007, 43 Boulevard du 11 Novembre 1918, 69622 Villeurbanne Cedex France"
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"abstract": "We discuss the discrete formulation of systems of conservation laws in port-Hamiltonian form on dual chain complexes. Based on integral balance equations and topological information, this representation is exact and qualifies as a control model. The finite-dimensional approximation requires an energy discretization that yields discrete constitutive equations. We give (i) a brief overview of discrete modeling of conservation laws on n-complexes and (ii) extend existing results by allowing for mixed physical types of boundary inputs. This requires the construction of a primal and a dual complex based on the underlying staggered grids and the localization of the inputs on the system boundary. Finally, (iii) we discuss the properties of the resulting structure-preserving discretization scheme based on a consistency analysis for the 2D nonlinear shallow water equations.",
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"title": "Zur Erhaltung von Struktur und Flachheit bei der torbasierten Ortsdiskretisierung",
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"given": "Paul",
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"name": "Technische Universität München , Lehrstuhl für Regelungstechnik , Boltzmannstraße 15 , 85478 Garching , Germany"
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"abstract": "Mit einem kürzlich vorgestellten gemischten Galerkin-Ansatz lassen sich Port-Hamiltonsche Systeme hyperbolischer Erhaltungsgleichungen in beliebiger Ortsdimension strukturerhaltend diskretisieren. Der Ansatz ist ebenso für parabolische Systeme in strukturierter Darstellung geeignet. Dieser Beitrag fasst die Methode zusammen. Weiterhin werden die Struktur und Approximationsgüte der resultierenden endlich-dimensionalen Zustandsraummodelle in Abhängigkeit der Entwurfsfreiheitsgrade analysiert. Hierzu werden exemplarisch die eindimensionale lineare Wellen- und Wärmeleitungsgleichung betrachtet und zunächst Eigenwertlagen und Lösungen von Anfangswertaufgaben analysiert. Im Hinblick auf den Steuerungsentwurf wird die Erhaltung eines flachen Ausgangs für die Wärmeleitungsgleichung nachgewiesen und die Güte der angenäherten Randsteuerungen untersucht.",
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"title": "On parametric structure preserving model order reduction of linear port-Hamiltonian systems",
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"given": "Tobias M.",
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"name": "Technical University of Munich , Chair of Automatic Control , Boltzmannstraße 15 , Garching/Munich , Germany"
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"abstract": "We present a procedure for the parametric order reduction of explicit port-Hamiltonian systems, which extends previous results. The approach is illustrated and discussed on the example of a ladder network.",
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"title": "Trajectory control of an elastic beam based on port-Hamiltonian numerical models",
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"given": "Mei",
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"abstract": "We present a systematic approach to realize the precise observer-based trajectory tracking of the tip of a flexible beam using the energy-based port-Hamiltonian (PH) system representation. The first design steps are the structure-preserving spatial discretization by means of a pseudo-spectral method and the structure-preserving order reduction. The model structure is exploited for inversion-based feedforward control, and the control loop is closed via an observer for the friction torque and the state difference. Experimental results for the reference input and the disturbance response illustrate the quality of the design.",
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"identifiers": {
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{
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"abstract": "This contribution is concerned with the design of observers for a single mast stacker crane, which is used, e. g., for storage and removal of loads in automated warehouses. As the mast of such stacker cranes is typically a lightweight construction, the system under consideration is described by ordinary as well as partial differential equations, i. e., the system exhibits a mixed finite-/infinite-dimensional character. We will present two different observer designs, an Extended Kalman Filter based on a finite-dimensional system approximation, using the Rayleigh-Ritz method and an approach exploiting the port-Hamiltonian system representation for the mixed finite-/infinite-dimensional scenario where in particular the observer-error system should be formulated in the port-Hamiltonian framework. The mixed-dimensional observer and the Kalman Filter are employed to estimate the deflection of the beam based on signals acquired by an inertial measurement unit at the beam tip. Such an approach considerably simplifies mechatronic integration as it renders strain-gauges at the base of the mast obsolete. Finally, measurement results demonstrate the capability of these approaches for monitoring and vibration-rejection purposes.",
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"title": "Automatisierte Erzeugung von Modellen und Beobachtern für physikalisch vernetzte Systeme",
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"given": "Martin",
"family": "Pfeifer",
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"affiliation": [
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"name": "Institut für Regelungs- und Steuerungssysteme (IRS) , Karlsruher Institut für Technologie (KIT) , Kaiserstr. 12 , Karlsruhe , Germany"
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"abstract": "Diese Arbeit befasst sich mit der Automatisierung der physikorientierten Modellbildung und des darauf basierenden Beobachterentwurfs. Hierzu werden Port-Hamiltonsche Methoden entwickelt, die erstmals eine durchgängige Automatisierung der Modellbildung und des Beobachterentwurfs für eine große Klasse physikalisch vernetzter Systeme ermöglichen.",
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"pages": "400--401",
"publisher": "Walter de Gruyter GmbH",
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"title": "MORpH: Model reduction of linear port-Hamiltonian systems in MATLAB",
"authors": [
{
"given": "Tim",
"family": "Moser",
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"name": "TUM School of Engineering and Design, Department of Engineering Physics and Computation , Technical University of Munich , Boltzmannstr. 15, 85748 Garching , Germany"
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{
"given": "Julius",
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"name": "TUM School of Engineering and Design, Department of Engineering Physics and Computation , Technical University of Munich , Boltzmannstr. 15, 85748 Garching , Germany"
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"name": "TUM School of Engineering and Design, Department of Engineering Physics and Computation , Technical University of Munich , Boltzmannstr. 15, 85748 Garching , Germany"
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"name": "TUM School of Engineering and Design, Department of Engineering Physics and Computation , Technical University of Munich , Boltzmannstr. 15, 85748 Garching , Germany"
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"abstract": "We present a novel software toolbox MORpH for the efficient storage, analysis, interconnection and structure-preserving model order reduction (MOR) of linear port-Hamiltonian differential-algebraic equation systems (pH-DAEs). The model class of pH-DAEs enables energy-based modeling and a flexible coupling of models across different physical domains. This makes them particularly suited for the simulation and control of complex technical systems. To promote the use of recent theoretical findings in engineering practice, efficient software solutions are required. In this work, we illustrate how possibly large-scale pH-DAEs can be efficiently stored and interconnected in MATLAB in an object-oriented way. We discuss three structure-preserving MOR strategies that are supported by MORpH and demonstrate the application and performance of selected MOR algorithms by means of two benchmark examples.",
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"publication_year": "2023",
"volume": "71",
"issue": "6",
"pages": "476--489",
"publisher": "Walter de Gruyter GmbH",
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"created_date": "2023-06-06",
"permalink": "morph-model-reduction-of-linear-port-hamiltonian-systems-in-matlab",
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"abstract": "Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A common approach for active damping is to derive a port-Hamiltonian model and to employ linear-quadratic control. However, the quadratic control penalization lacks physical interpretation and merely serves as a regularization term. Rather, we propose a controller, which achieves the goal of vibration damping while acting energy-optimal. Leveraging the port-Hamiltonian structure, we show that the optimal control is uniquely determined, even on singular arcs. Further, we prove a stable long-time behavior of optimal trajectories by means of a turnpike property. Last, the proposed controller’s efficiency is evaluated in a numerical study.",
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"title": "Neural network quaternion-based controller for port-Hamiltonian system",
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"given": "Fawaz E.",
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"name": "Department of Information Technology, Communication Systems and Networks Research Group, Faculty of Computing and Information Technology, King Abdulaziz University , Jeddah , Saudi Arabia"
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"given": "Fernando E.",
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"name": "Instituto de Investigación en Energía IIE, Universidad Nacional Autónoma de Honduras (UNAH) , Tegucigalpa , Honduras"
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"abstract": "In this research article, a control approach for port-Hamiltonian PH systems based in a neural network (NN) quaternion-based control strategy is presented. First, the dynamics is converted by the implementation of a Poisson bracket in order to facilitate the mathematical model in order to obtain a feasible formulation for the controller design based on quaternion NNs. In this study, two controllers for this kind of of system are presented: the first one consists in the controller design for a PH system about its equilibrium points taking into consideration the position and momentum. This mean is achieved by dividing the quaternion neural controller into scalar and vectorial parts to facilitate the controller derivation by selecting a Lyapunov functional. The second control strategy consists in designing the trajectory tracking controller, in which a reference moment is considered in order to drive this variable to the final desired position according to a reference variable; again, a Lyapunov functional is implemented to obtain the desired control law. It is important to mention that both controllers take into advantage that the energy consideration and that the representation of many physical systems could be implemented in quaternions. Besides the angular velocity, trajectory tracking of a three-phase induction motor is presented as a third numerical experiment. Two numerical experiments are presented to validate the theoretical results evinced in this study. Finally, a discussion and conclusion section is provided.",
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"publication_year": "2024",
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"citation": "Hamada, K., Borja, P., Fujimoto, K., Maruta, I. & Scherpen, J. M. A. On Passivity-Based High-Order Compensators for Mechanical Port-Hamiltonian Systems Without Velocity Measurements. IFAC-PapersOnLine vol. 54 287–292 (2021)"
},
{
"identifiers": {
"doi": "10.3182/20130714-3-fr-4040.00012"
},
"citation": "Ramirez, H., Gorrec, Y. L., Maschke, B. & Couenne, F. Passivity Based Control of Irreversible Port Hamiltonian Systems. IFAC Proceedings Volumes vol. 46 84–89 (2013)"
},
{
"identifiers": {
"doi": "10.3182/20130904-3-fr-2041.00193"
},
"citation": "Nishida, G., Yamaguchi, K. & Sakamoto, N. Optimality of passivity-based controls for distributed port-Hamiltonian systems. IFAC Proceedings Volumes vol. 46 146–151 (2013)"
},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2021.11.052"
},
"citation": "Sakata, N., Fujimoto, K. & Maruta, I. On trajectory tracking control of simple port-Hamiltonian systems based on passivity based sliding mode control. IFAC-PapersOnLine vol. 54 38–43 (2021)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2016.04.004"
},
"citation": "Castaños, F. & Gromov, D. Passivity-based control of implicit port-Hamiltonian systems with holonomic constraints. Systems & Control Letters vol. 94 11–18 (2016)"
},
{
"identifiers": {
"doi": "10.1016/j.chaos.2021.110897"
},
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},
{
"identifiers": {
"doi": "10.1016/j.jfranklin.2021.02.029"
},
"citation": "Feng, J., Chai, Y. & Xu, C. A novel neural network to nonlinear complex-variable constrained nonconvex optimization. Journal of the Franklin Institute vol. 358 4435–4457 (2021)"
},
{
"identifiers": {
"doi": "10.1016/j.neucom.2017.11.041"
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/j.fss.2023.108668"
},
"citation": "Kadak, U. & Coroianu, L. Integrating multivariate fuzzy neural networks into fuzzy inference system for enhanced decision making. Fuzzy Sets and Systems vol. 470 108668 (2023)"
},
{
"identifiers": {
"doi": "10.1016/j.isatra.2023.06.003"
},
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},
{
"identifiers": {
"doi": "10.1016/s0378-4371(00)00449-0"
},
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},
{
"identifiers": {
"doi": "10.1016/j.aop.2015.06.011"
},
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},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2018.06.049"
},
"citation": "Borja, P., Ortega, R. & Nuño, E. New results on PID passivity-based controllers for port-Hamiltonian systems. IFAC-PapersOnLine vol. 51 175–180 (2018)"
}
]
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"identifiers": {
"doi": "10.1524/auto.2002.50.3.103"
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"type": "journal-article",
"title": "Analyse und Synthese nichtlinearer dissipativer Systeme: Ein Überblick (Teil 2) (Analysis and Synthesis of Non-linear Dissipative Systems: An Overview (Part 2))",
"authors": [
{
"given": "A.",
"family": "Kugi",
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{
"given": "Kurt",
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"abstract": "Dieser zweite Teil des Beitrages setzt mit den Kapiteln 5 bis 9 den im letzten Heft erschienenen ersten Teil fort. Dabei wird im Kapitel 5 eine Art kanonische Form passiver Systeme, die es sehr schön erlaubt, die Energieflüsse im Systeminneren und mit der Systemumgebung zu charakterisieren, vorgestellt. Diese Klasse nichtlinearer Systeme, auch unter dem Namen PCHD-Systeme (port-controlled Hamiltonian systems with dissipation) bekannt, bildet den Ausgangspunkt für den im Kapitel 6 beschriebenen passivitätsbasierten Reglerentwurf und die Methode des Einbringens von zusätzlicher Dämpfung in den geschlossenen Kreis. Die Dissipativität und die Passivität sind zufolge ihrer Definition mit dem Zustand des Systems verbunden. Im Gegensatz dazu ist der im Kapitel 7 eingeführte Begriff der positiven Reellheit eine Eigenschaft des Eingangs-Ausgangsverhaltens und damit vom Zustand unabhängig. Die Verbindung der positiven Reellheit mit der L 2-Stabilität und der Passivität sowie eine detaillierte Herleitung des aus der linearen Theorie wohlbekannten Kalman-Yakubovich-Popov-Lemmas, formuliert für nichtlineare Systeme mit affinem Eingang, werden ausführlich im siebten Kapitel besprochen. Das Kapitel 8 ist dem klassischen Konzept der absoluten Stabilität gewidmet. Es wird gezeigt, dass sich die Kriterien zur Überprüfung der absoluten Stabilität, hier im Speziellen das Kreiskriterium und das Popov-Kriterium, auf ein allgemeineres Kriterium, welches auf der Rückkopplung zweier passiver Systeme beruht, zurückführen lassen. Diese Vorgangsweise führt zwar auf die aus der Literatur bekannten Ergebnisse, gibt aber einerseits einen tieferen Einblick in die Idee, die hinter diesen Konzepten steckt, und ermöglicht andererseits die Entwicklung vollkommen neuer Kriterien. Im neunten und letzten Kapitel werden die Ergebnisse dieses Beitrages kurz zusammengefasst.",
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"references": [
{
"identifiers": {
"doi": "10.1109/9.100932"
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{
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},
{
"id": "a2526fce-7d1e-549b-be91-7013b73f4a90",
"identifiers": {
"doi": "10.1524/auto.2010.0813"
},
"type": "journal-article",
"title": "Parametrierung von IDA-PBC über Zuweisung lokal linearer DynamikParametrization of IDA-PBC by Assignment of Local Linear Dynamics",
"authors": [
{
"given": "Paul",
"family": "Kotyczka",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Boris",
"family": "Lohmann",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "TU München, Lehrstuhl für Regelungstechnik, Garching, Deutschland"
}
]
}
}
],
"abstract": "Der Beitrag beschäftigt sich mit der Parametrierung der nichtlinearen Zustandsregelung durch Interconnection and Damping Assignment Passivity Based Control (IDA-PBC). Die Struktur der geregelten Strecke als Port-Hamilton (PH) System ist physikalisch motiviert und beruht auf der Speicherung, dem Austausch und der Dissipation von Energie. Die Wirkung der Entwurfsparameter in den vorzugebenden Struktur- und Dämpfungsmatrizen sowie der Energiefunktion auf das Zeitverhalten ist jedoch in der Regel undurchsichtig. Die Betrachtung der Linearisierung des geregelten nichtlinearen Systems in Abhängigkeit der Entwurfsparameter bietet die Möglichkeit, wenigstens lokal gewünschtes Zeitverhalten systematisch im Regelungsentwurf zu berücksichtigen.",
"container_title": "auto",
"publication_year": "2010",
"volume": "58",
"issue": "1",
"pages": "38--48",
"publisher": "Walter de Gruyter GmbH",
"event": "",
"keywords": [],
"created_date": "2010-01-08",
"permalink": "parametrierung-von-ida-pbc-uber-zuweisung-lokal-linearer-dynamikparametrization-of-ida-pbc-by-assignment-of-local-linear-dynamics",
"references": [
{
"identifiers": {
"doi": "10.1109/9.100932"
},
"citation": "Byrnes, C. I., Isidori, A. & Willems, J. C. Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems. IEEE Transactions on Automatic Control vol. 36 1228–1240 (1991)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(96)00207-5"
},
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},
{
"identifiers": {
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},
"citation": "Putting energy back in control. IEEE Control Systems vol. 21 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica vol. 39 2059–2069 (2003)"
},
{
"identifiers": {
"doi": "10.1002/pamm.200510064"
},
"citation": "Kugi, A. & Daniel, D. A Combination of Flatness‐Based Tracking Control with Passivity‐Based Control for a Certain Class of Infinite‐Dimensional Systems. PAMM vol. 5 169–172 (2005)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control vol. 10 432–450 (2004)"
},
{
"identifiers": {},
"citation": "Gomez-Estern F., IDAPBC Controlled Underactuated Mechanical Systems. Eur. J. Control (2004)"
},
{
"identifiers": {
"doi": "10.1109/tac.2004.840477"
},
"citation": "Transient stabilization of multimachine power systems with nontrivial transfer conductances. IEEE Transactions on Automatic Control vol. 50 60–75 (2005)"
},
{
"identifiers": {
"doi": "10.1109/tac.2005.860292"
},
"citation": "Acosta, J. A., Ortega, R., Astolfi, A. & Mahindrakar, A. D. Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one. IEEE Transactions on Automatic Control vol. 50 1936–1955 (2005)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2005.02.005"
},
"citation": "Cheng, D., Astolfi, A. & Ortega, R. On feedback equivalence to port controlled Hamiltonian systems. Systems & Control Letters vol. 54 911–917 (2005)"
},
{
"identifiers": {},
"citation": "Stadlmayr R., Proc. ECC"
},
{
"identifiers": {},
"citation": "Kotyczka P., Proc. ECC"
}
]
},
{
"id": "bfb22326-5512-5bd5-af15-ba345221973a",
"identifiers": {
"doi": "10.1524/auto.2011.0940"
},
"type": "journal-article",
"title": "Regelung verteilt-parametrischer Hamiltonscher Systeme auf Basis struktureller Invarianten",
"authors": [
{
"given": "Andreas",
"family": "Siuka",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Markus",
"family": "Schöberl",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Johannes Kepler Universität Linz, Institut für Regelungstechnik und Prozessautomatis, Linz, Österreich"
}
]
}
},
{
"given": "Karl",
"family": "Rieger",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Kappa Filter Systems GmbH, Steyr-Gleink, Österreich"
}
]
}
},
{
"given": "Kurt",
"family": "Schlacher",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Johannes Kepler Universität Linz, Institut für Regelungstechnik und Prozessautomatis, Linz, Österreich"
}
]
}
}
],
"abstract": "Dieser Beitrag behandelt die Modellierung und Regelung von räumlich eindimensionalen, verteilt-parametrischen Tor-basierten Hamiltonschen Systemen. Motiviert durch die physikalische Interpretation der Tor-basierten Hamiltonschen Systembeschreibung im konzentriert-parametrischen Fall wird eine Erweiterung dieser Systemklasse auf den verteilt-parametrischen Fall vorgeschlagen, welche auf dem klassischen evolutionären Zugang basiert. Weiters wird die aus dem konzentriert-parametrischen Fall bekannte Methode “Regelung auf Basis struktureller Invarianten” auf die vorgestellte verteilt-parametrische Hamiltonsche Darstellung übertragen. Die Effektivität dieser Methode wird anhand der energiebasierten Regelung des Timoshenko Balkens mit Randeingriff gezeigt.",
"container_title": "auto",
"publication_year": "2011",
"volume": "59",
"issue": "8",
"pages": "465--478",
"publisher": "Walter de Gruyter GmbH",
"event": "",
"keywords": [],
"created_date": "2011-08-02",
"permalink": "regelung-verteilt-parametrischer-hamiltonscher-systeme-auf-basis-struktureller-invarianten",
"references": [
{
"identifiers": {
"doi": "10.1137/s0363012903429530"
},
"citation": "Macchelli, A. & Melchiorri, C. Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach. SIAM Journal on Control and Optimization vol. 43 743–767 (2004)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Systems vol. 21 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1007/978-3-540-70701-1_13"
},
"citation": "Schlacher, K. Distributed PCHD-Systems, from the Lumped to the Distributed Parameter Case. Lecture Notes in Control and Information Sciences 239–255 doi:10.1007/978-3-540-70701-1_13"
},
{
"identifiers": {
"doi": "10.1016/j.matcom.2008.02.011"
},
"citation": "Schlacher, K. Mathematical modeling for nonlinear control: a Hamiltonian approach. Mathematics and Computers in Simulation vol. 79 829–849 (2008)"
},
{
"identifiers": {
"doi": "10.1080/13873950701844824"
},
"citation": "Schöberl, M., Ennsbrunner, H. & Schlacher, K. Modelling of piezoelectric structures–a Hamiltonian approach. Mathematical and Computer Modelling of Dynamical Systems vol. 14 179–193 (2008)"
},
{
"identifiers": {
"doi": "10.1080/13873954.2010.537526"
},
"citation": "Schöberl, M. & Schlacher, K. First-order Hamiltonian field theory and mechanics. Mathematical and Computer Modelling of Dynamical Systems vol. 17 105–121 (2011)"
},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
},
{
"identifiers": {
"doi": "10.1016/j.jmaa.2006.01.020"
},
"citation": "Zhang, C.-G. Boundary feedback stabilization of the undamped Timoshenko beam with both ends free. Journal of Mathematical Analysis and Applications vol. 326 488–499 (2007)"
}
]
},
{
"id": "65c7270b-bff0-51de-ad05-ceacdfa8ebce",
"identifiers": {
"doi": "10.15276/aait.02.2021.2"
},
"type": "journal-article",
"title": "PASSIVITY-BASED CONTROL SYSTEM FOR STAND-ALONE HYBRID ELECTROGENERATING COMPLEX",
"authors": [
{
"given": "Yurii O.",
"family": "Biletskyi",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Ihor Z.",
"family": "Shchur",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Rostyslav-Ivan V.",
"family": "Kuzyk",
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"affiliation": []
}
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],
"abstract": "The desire for energy independence presupposes the use of various types of elements for energy generation from renewable sources, for the stand-alone operation of which energy storage devices are required. Apower generation complex created in this way must perform a number of tasks that are formed by the energy management system. The control system performs these tasks and ensures proper static and dynamic characteristics of this complex with many inputs and outputs. The results of recent world researches, as well as the authors experience of this work, show that,for creating such control systems, it is advisable to use Passive-Based Control (PBC), presenting the control object as a Port-Controlled Hamiltonian (PCH) system. Thanks to the developed method of additional interconnections and damping injection (Interconnection & Damping Assignment -IDA) passive control provides ample opportunities to adjust the control effects, while ensuring the asymptotic stability of the system as a whole. This is particularly useful in the complex system considered in this paper that includes both a hybrid power plant for electricity generation from the sun and windanda hybrid energystorage unit consisting of the battery and supercapacitor module. This article shows the procedure of PBCsystem synthesis, according to which three structures of control influence formers (CIF) were designed and investigated. These structures have different combinations of additional interconnections and damping, which allows forming the desired energy flows inside the closed-loop systemand therefore provide desired control results.Among them, there are tasks of maintaining voltages on the DC bus and the supercapacitor module at referencelevels, and the smoothness of the battery current transients.A comparative simulation studies were performed on a computer model of the power generation complex with synthesized control systems, whichwas created in the MATLAB/Simulink environment. It showed the efficiency of their work and the advantages of different CIF structures.",
"container_title": "Applied Aspects of Information Technology",
"publication_year": "2021",
"volume": "4",
"issue": "2",
"pages": "140--152",
"publisher": "Odessa Polytechnic National University",
"event": "",
"keywords": [],
"created_date": "2021-07-09",
"permalink": "passivity-based-control-system-for-stand-alone-hybrid-electrogenerating-complex",
"references": []
},
{
"id": "0916dfdd-e635-57e3-8b1d-1e70ac912a5e",
"identifiers": {
"doi": "10.15276/aait.04.2020.2"
},
"type": "journal-article",
"title": "IMPROVED STRUCTURE OF PASSIVITY-BASED CONTROL OF BATTERY-SUPERCAPACITOR HUBRID ENERGY STORAGE SYSTEM",
"authors": [
{
"given": "Igor Z.",
"family": "Shchur",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Yuriy O.",
"family": "Biletskyi",
"literal": null,
"source_fields": {
"sequence": "additional",
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}
}
],
"abstract": "Energy storage systems are a topical modern area of research due to the rapid development of renewable energy and electric vehicle construction. Due to the current lack of a source or accumulator of electricity with high specific energy and power, it is being replaced by hybrid electricity storage systems, which consist of separate, complementary sources. Among them, the combination of electrochemical battery – supercapacitor bank is the most common. The paper considers its active configuration, in which both sources are connected to the output network through bidirectional pulse DC-DC converters. The studied hybrid battery-supercapacitor system is a nonlinear dynamic system with multiple inputs, multiple outputs, and two control channels, the operation of which is described by five differential equations. To solve the problem of synthesis of a stable and efficient control system for such an object, the energy approach, namely energy-shaping control has been used. To do this, the studied system is mathematically described as Port-Controlled Hamiltonian system, and two descriptions are compared with different options for choosing the basic vector of the system state. The structural synthesis of the passive control system was performed by the Interconnection and Damping Assignment method. Based on the energy management strategy developed for the system under study, all possible options for introducing interconnections and damping into the passive control system were explored using a computer program developed in the MathCad environment. The effectiveness of the obtained structures of control influence formers on the investigated dynamic system was studied by computer simulation in the Matlab/Simulink environment. According to the results of the research, the variant of control influence former with the best combination of introduced interconnections and damping is formed according to the principle of superposition. To stabilize the voltage values of the output network and the supercapacitor unit set by the control strategy, a proportional-integrated voltage regulator is additionally used, and a sliding regulator between two passive control structures is exploited to limit the allowable battery current. The results of the computer simulation showed the full implementation of the tasks ofthe energy management strategy, including a smooth increase and limitation of the battery current.",
"container_title": "Applied Aspects of Information Technology",
"publication_year": "2020",
"volume": "3",
"issue": "4",
"pages": "232--245",
"publisher": "Odessa Polytechnic National University",
"event": "",
"keywords": [],
"created_date": "2020-12-21",
"permalink": "improved-structure-of-passivity-based-control-of-battery-supercapacitor-hubrid-energy-storage-system",
"references": []
},
{
"id": "610b9af4-b50b-5d94-9f0e-fd88130711c2",
"identifiers": {
"doi": "10.15276/hait.07.2024.6"
},
"type": "journal-article",
"title": "Mode decomposed passivity-based speed control of DC drive with bidirectional Zeta-SEPIC DC-DC converter for light electric vehicles",
"authors": [
{
"given": "Rostyslav-Ivan V.",
"family": "Kuzyk",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Ihor Z.",
"family": "Shchur",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "Currently, light electric vehicles are rapidly developing in various kinds. To power these vehicles with batteries, the simplest electric drive system is a DC motor controlled by a DC-DC converter. This work utilizes a bidirectional Zeta-SEPIC DC-DC converter with an integrated DC motor. This implementation enables control of motor speed and torque in traction and regenerative braking modes. Additionally, it allows for the use of a lower voltage battery compared to the motor's rated voltage, reducing battery weight and increasing safety. In this work, a decomposition approach is applied. Two separate port-controlled Hamiltonian subsystems are obtained to adjust the motor angular velocity in the traction (Zeta) and braking (SEPIC) modes of the DC-DC converter. The Passivity-Based Control (PBC) method is used to synthesize the drive control subsystems in these modes. This method is based on the energy laws of processes in systems and provides asymptotic stability of nonlinear systems, in this case, two fourth-order subsystems for speed control. Two third-order current control subsystems synthesized by the PBC were used to limit the motor current at a given level. The synthesis resulted in sets of possible structures of control influence formers (CIFs) for all PBC subsystems using Zeta and SEPIC DC-DC converters. The study analyzed the operation of the obtained structures of the CIFs, selected the most effective ones, and determined the laws of adaptation of their parameters to the value of the motor angular velocity through computer simulation in Matlab/Simulink. The results of the simulation showed that the drive operated well in both static and dynamic modes.",
"container_title": "Herald of Advanced Information Technology",
"publication_year": "2024",
"volume": "7",
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"abstract": "In this paper, we investigate the stability of port-Hamiltonian systems with mixed time-varying delays as well as input saturation. Three types of time delays, including state delay, input delay, and output delay, are all assumed to be bounded. By introducing the output feedback control law and utilizing serval Lyapunov–Krasovskii functionals, we present three delay-dependent stability criteria in terms of the linear matrix inequality. Meanwhile, we use Wirtinger’s inequality, constraint conditions, and Lyapunov–Krasovskii functionals of triple and quadruple integral form to obtain less conservative results. Some numerical examples demonstrate and support our results.",
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"abstract": "This paper is concerned with practical fixed-time (FT) stabilization problem of discretetime impulsive switched port-controlled Hamiltonian systems (DISPCH). First, starting with discrete-time port-controlled Hamiltonian systems, a novel controller is presented to achieve practical FT stability of the obtained closed-loop system. Moreover, in order to well handle the abrupt changes at switch moments in practical switched systems, another novel controller is presented in terms of positive-order Lyapunov functions approach and range dwell time method to make discrete-time impulsive switched port-controlled Hamiltonian system practical FT stable. Ultimately, the validity of proposed methods is illustrated by simulations.",
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"abstract": "We study computational methods for computing the distance to singularity, the distance to the nearest high-index problem, and the distance to instability for linear differential-algebraic systems (DAEs) with dissipative Hamiltonian structure. While for general unstructured DAEs the characterization of these distances is very difficult and partially open, it has been shown in [C. Mehl, V. Mehrmann, and M. Wojtylak, Distance problems for dissipative Hamiltonian systems and related matrix polynomials, Linear Algebra Appl., 623 (2021), pp. 335–366] that for dissipative Hamiltonian systems and related matrix pencils there exist explicit characterizations. We will use these characterizations for the development of computational methods to approximate these distances via methods that follow the flow of a differential equation converging to the smallest perturbation that destroys the property of regularity, index one, or stability.",
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"abstract": "Port-Hamiltonian systems have gained a lot of attention in recent years due to their inherent valuable properties in modeling and control. In this paper, we are interested in constructing linear port-Hamiltonian systems from time-domain input-output data. We discuss a non-intrusive methodology that is comprised of two main ingredients -- (a) inferring frequency response data from time-domain data, and (b) constructing an underlying port-Hamiltonian realization using the inferred frequency response data. The proposed method is illustrated by means of two numerical examples.",
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"abstract": "We study the regularization problem for port-Hamiltonian descriptor systems by proportional and/or derivative output feedback. Necessary and sufficient conditions are given, which guarantee that there exist output feedbacks such that the closed-loop system is regular, has index at most one, and is still port-Hamiltonian with desired rank properties. All results are derived based on condensed forms, computations of these condensed form can be implemented using only orthogonal transformations and hence are numerically reliable.",
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"abstract": "Energy and energy exchange govern interactions in the physical world. By explicitly considering the energy and power in a robotic system, many control and design problems become easier or more insightful than in a purely signal-based view. We show the application of these energy considerations to robotics; starting from the fundamental aspects, but, most importantly, continuing to the practical application to robotic systems. Using the theory of Port-Hamiltonian Systems as a fundamental basis, we show examples concerning energy measurement, passivity and safety. Control by interconnection covers the shaping and directing of energy inside the controller algorithms, to achieve desired behaviour in a power-consistent manner. This idea of control over the energy flows is extended to the physical domain. In their mathematical description and analysis, the boundary between controller and robot disappears and everything is an interconnected system, driven by energy exchange between its parts.",
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"abstract": "An up-to-date survey of the theory of port-Hamiltonian systems is given, emphasizing novel developments and relationships with other formalisms. Port-Hamiltonian systems theory yields a systematic framework for network modeling of multi-physics systems. Examples from different areas show the range of applicability. While the emphasis is on modeling and analysis, the last part provides a brief introduction to control of port-Hamiltonian systems.",
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"abstract": "This paper focuses on boundary control of distributed parameter systems (also called infinite dimensional systems). More precisely, a passivity based approach for the stabilization of temperature profile inside a well-insulated bar with heat conduction in a one-dimensional described by parabolic partial differential equations (PDEs) is developed. This approach is motivated by an appropriate model reduction schema using the finite difference approximation method. On this basis, it allows to discretize and then, write the original parabolic PDEs into a Port Hamiltonian (PH) representation. From this, the boundary control input is therefore synthesized using passive tools to stabilize the temperature at a desired reference profile asymptotically. The infinite dimensional nature of the original distributed parameter system in the PH framework is also discussed. Numerical simulations illustrate the application of the developments.",
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"abstract": "This work deals with systems whose dynamics are affine in the control input. Such dynamics are considered to be significantly differentially expressed in a canonical form, namely the quadratic (pseudo) port-Hamiltonian representation, in order to explore further some structural properties usable for the tracking-error passivity-based control design. Different kinds of linear and nonlinear engineering systems including an open isothermal homogeneous system and a continuous biochemical fermenter are used to illustrate the approach.",
"container_title": "Vietnam Journal of Science and Technology",
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"title": "Current-constraint speed regulation for PMSM based on port-controlled Hamiltonian realization and deep deterministic policy gradient",
"authors": [
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"name": "Graduate School of Engineering Science, Osaka University"
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"given": "Roland",
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"abstract": "We consider linear first-order systems of ordinary differential equations (ODEs) in port-Hamiltonian (pH) form. Physical parameters are remodeled as random variables to conduct an uncertainty quantification. A stochastic Galerkin projection yields a larger deterministic system of ODEs, which does not exhibit a pH form in general. We apply transformations of the original systems such that the stochastic Galerkin projection becomes structure-preserving. Furthermore, we investigate meaning and properties of the Hamiltonian function belonging to the stochastic Galerkin system. A large number of random variables implies a high-dimensional stochastic Galerkin system, which suggests itself to apply model order reduction (MOR) generating a low-dimensional system of ODEs. We discuss structure preservation in projection-based MOR, where the smaller systems of ODEs feature pH form again. Results of numerical computations are presented using two test examples.
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{
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{
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{
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{
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{
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{
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{
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"id": "ca3425d3-826f-5652-a733-a758f0188a1e",
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"doi": "10.1631/jzus.c1000368"
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"type": "journal-article",
"title": "Interconnection and damping assignment and Euler-Lagrange passivity-based control of photovoltaic/battery hybrid power source for stand-alone applications",
"authors": [
{
"given": "Ali",
"family": "Tofighi",
"literal": null,
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{
"given": "Mohsen",
"family": "Kalantar",
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"abstract": "A DC hybrid power source composed of photovoltaic cells as the main power source, Li-ion battery storage as the secondary power source, and power electronic interface, is modeled based on port-controlled Hamiltonian systems and Euler-Lagrange framework. Subsequently, passivity-based controllers are synthesized. Local asymptotic stability is ensured as well. In addition, a power management system is designed to manage power flow between components. Modeling and simulation of the proposed hybrid power source is accomplished using MATLAB/Simulink. Our interest is focused on the comparison of the two passivity-based control methods and their use in hybrid power systems.",
"container_title": "Journal of Zhejiang University SCIENCE C",
"publication_year": "2011",
"volume": "12",
"issue": "9",
"pages": "774--786",
"publisher": "Zhejiang University Press",
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"keywords": [
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"identifiers": {
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},
{
"identifiers": {
"doi": "10.1007/978-3-319-32552-1_51"
},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
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"identifiers": {
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{
"identifiers": {
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},
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{
"identifiers": {
"doi": "10.1016/j.apor.2022.103082"
},
"citation": "Lei L, Gang Y, Jing G (2022) Physics-guided neural network for underwater glider flight modeling. Applied Ocean Research 121:103082. https://doi.org/10.1016/j.apor.2022.10308"
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"doi": "10.15607/rss.2021.xvii.086"
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"citation": "Duong T, Atanasov N (2021) Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control. Robotics: Science and Systems XVI"
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"doi": "10.1109/tro.2024.3428433"
},
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"title": "Simulation of the Ondes Martenot Ribbon-Controlled Oscillator Using Energy-Balanced Modeling of Nonlinear Time-Varying Electronic Components",
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"given": "Judy",
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"abstract": "HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Simulation of the Ondes Martenot Ribbon-Controlled Oscillator Using Energy-Balanced Modeling of Nonlinear Time-Varying Electronic Components Judy Najnudel, Thomas Hélie, David Roze",
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"title": "A Novel Integral Interconnection Damping Assignment Passivity-Based Control Approach for Underactuated Inverted Pendulum System",
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"abstract": "This study explores an application of robust nonlinear control to an underactuated inverted pendulum system (UIPS), a type of underactuated mechanical system, by first transforming the perturbed system into a form of a port-controlled Hamiltonian system (PCH), then utilizing the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) methodology to achieve the stabilization of an unperturbed closed-loop PCH system with an assigned energy function that qualifies as a Lyapunov candidate at the unstable equilibrium point. From there, the problem of robustification of IDA-PBC for a perturbed closed-loop PCH system with the state-dependent input matrix of the UIPS, subject to constant matched disturbances, is addressed by adding an outer-loop controller with an additional state. This results in a new system that preserves the framework of a PCH system, rejects the disturbance, and has a new energy function that again serves as a Lyapunov function at the desired equilibrium point. This proposed methodology is called integral IDA-PBC (iIDA-PBC). The effectiveness and applicability of the proposed method are thoroughly assessed through numerical simulations and experimental validation on the UIPS. The results demonstrate the method's proficiency in handling the system’s constant matched disturbances and model inaccuracies, underscoring the potential of iIDA-PBC for broader applications in systems facing similar control challenges.",
"container_title": "Journal of Robotics and Control (JRC)",
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"title": "Interconnection and Damping Assignment Passivity for the Control of PV/Battery Hybrid Power Source in Islanded Microgrid",
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"abstract": "This work proposes an Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) to enhance power quality of an islanded Micro-grid (MG) including a photovoltaic main source (PV) and a Li-ion battery based Energy Storage System (ESS). In this MG, the PV generator-unit is controlled to provide its maximum power and the ESS-unit is controlled to ensure the desired voltage waveform at the Point of Common Coupling (PCC) and to support the PV source in order to satisfy the local loads. The IDA-PBC approach is chosen for its proprieties which allow the synthesis of asymptotically stable controllers for passive systems by the mean of the power system energy. In fact, the damping and interconnection coupling matrices of the IDA-PBC controller allows additional degree of freedoms in comparison to classical passivity controllers that enhance the convergence rapidity and the robustness under uncertainties. The mathematical model of the PV source and the Li-ion battery based ESS are presented. The power interface circuits are firstly represented through Park-coordinates then expressed in a Port-Controlled Hamiltonian (PCH) form. The obtained models are used to the design of the proposed IDA-PBC controller where the stability conditions are checked. The proposed control validity and performance are verified through comparison simulation tests with a conventional Proportional-Integral (PI) based control strategy. The obtained results show that the proposed control algorithm allows reducing the current and voltage overshoots under transient’s conditions in comparison to the PI controller. Furthermore, the proposed control achieves better voltage waveform at the PCC in steady state.",
"container_title": "International Journal of Renewable Energy Research",
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"doi": "10.20998/2074-272x.2022.2.02"
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"title": "Passivity voltage based control of the boost power converter used in photovoltaic system",
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{
"given": "K.",
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"abstract": "Introduction. This paper presents a robust nonlinear control of the DC-DC boost converter feeding by a photovoltaic system based on the passivity control. The control law design uses the passivity approach. Novelty. The novelty consists in designing a control law for a photovoltaic system using a passivity approach based on energy shaping and associated with damping injection. Purpose. The purpose consists to develop a tool for design and optimize a control law of the photovoltaic system in order to improve its efficiency under some conditions such as the variations of the temperature, the irradiation and the parameters. Also, the control law design should be simple with a lower overshoot and a shorter settling time. Methods. This work uses the port Hamiltonian mathematical approach with minimization of the energy dissipation in boost converter of the photovoltaic system to illustrate the modification of energy and generate a specify duty cycle applied to the converter. Results. The results with MATLAB/SimPowerToolbox® have proven the robustness against parameter variations and effectiveness of the proposed control. Practical value. The experimental results, carried out using a dSPACE DS1104 system, are presented to show the feasibility and the robustness of the proposed control strategy against parameter variations.",
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"abstract": "We present a learned structure-preserving surrogate operator in the form of a Hamiltonian Network that reproduces full-physics three-phase slightly-compressible flow simulations at roughly 10× lower computational cost while retaining fundamental conservation laws. We express the reservoir dynamics as a finite-volume port–Hamiltonian (pH) dynamic system and to progressively learn the Hamiltonian through its dynamic vector field with Bayesian optimization, and using a scalable mixture-of-Gaussian-process (MoGP) prior. The pH scaffold enforces mass balance, passivity, and Lyapunov stability by construction; the Bayesian GP treatment supplies calibrated epistemic uncertainty that propagates through the surrogate estimation state process and can be used to quantify forecast uncertainty in closed-loop reservoir management. Unlike previously published neural-operator and reduced-order surrogates, our method guarantees conservation without ad-hoc penalties and delivers analytic gradients for adjoint-free history matching.",
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"title": "An Energy-Based Nonlinear Control for a Two-Link Flexible Manipulator",
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"given": "Xu",
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"abstract": "In this paper, we propose an energy-based nonlinear control for two-link flexible manipulators. Since the two-link flexible manipulator is an underactuated system which provides a challenge to control engineers and researchers. In order to control this kind of system more effectively, many new control theories and methods are explored to design controllers for the flexible manipulators. Among these methods, the energy-based control design method has gained a lot of attentions in these years, which can provide more physical insights in nonlinear control and also can provide a candidate for Lyapunov function directly, which is very important in proving the stability of the closed-loop system. Especially, the port-controlled Hamiltonian system and generalized canonical transformation have some advantages on the modeling and control design of these nonlinear systems. Therefore, we explore to control two-link flexible manipulators via generalized canonical transformation. Both the simulation and experimental results are shown to demonstrate the effectiveness of the controllers.",
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{
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},
{
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{
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{
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"title": "Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one",
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"abstract": "We consider the problem of (asymptotic) stabilization of mechanical systems with underactuation degree one. A state-feedback design is derived applying the interconnection and damping assignment passivity-based control methodology. Its application relies on the possibility of solving a set of partial differential equations that identify the energy functions that can be assigned to the closed-loop. The following results are established: 1) identification - in terms of some algebraic inequalities - of a subclass of these systems for which the partial differential equations are trivially solved; 2) characterization of all systems which are feedback-equivalent to this subclass; and 3) introduction of a suitable parametrization of the assignable energy functions that provides the designer with a handle to address transient performance and robustness issues. An additional feature of our developments is that the open-loop system need not be described by a port-controlled Hamiltonian (or Lagrangian) model, a situation that arises often in applications due to model reductions or preliminary feedbacks that destroy the structure. The new result is applied to obtain an (almost) globally stabilizing controller for the inertia wheel pendulum, a controller for the chariot with pendulum system that can swing-up the pendulum from any position in the upper half plane and stop the chariot at any desired location, and an (almost) globally stabilizing scheme for the vertical takeoff and landing aircraft with strong input coupling. In all cases we obtain very simple and intuitive solutions that do not rely on, rather unnatural and technique-driven, linearization or decoupling procedures but instead endows the closed-loop system with a Hamiltonian structure with desired potential and kinetic energy functions.",
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"title": "A higher order Stokes-Dirac structure for distributed-parameter port-Hamiltonian systems",
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"given": "G.",
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"abstract": "This paper studies an extension of a Stokes-Dirac structure which is treated in a port-Hamiltonian formulation of distributed-parameter systems for a higher order. The extended structure does not only use exterior derivative operators but Hodge star operators and their composite operators to relate flows with efforts. The structure represents a differential relation between energy variables and it shows clearly some geometric properties.",
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"title": "On structural invariants in the energy based control of port-Hamiltonian systems with second-order Hamiltonian",
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"abstract": "This paper deals with the energy based control of infinite-dimensional port-Hamiltonian systems, by exploiting structural invariants—so-called Casimir functionals—of the closed loop system. We confine ourselves to port-Hamiltonian systems, modeled within a jet-space approach, with one dimensional spatial domain and 2nd-order Hamiltonian. Therefore, the concept of structural invariants is extended from systems with 1st-order Hamiltonian to systems with 2nd-order Hamiltonian. To demonstrate the capability of this closed loop control methodology, a boundary controlled Euler-Bernoulli beam is used. Finally, simulation results conclude the paper.",
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{
"identifiers": {},
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{
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},
"citation": "Schoberl, M. & Siuka, A. On Casimir Functionals for Infinite-Dimensional Port-Hamiltonian Control Systems. IEEE Trans. Automat. Contr. 58, 1823–1828 (2013)"
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"citation": "Schöberl, M. & Siuka, A. Jet bundle formulation of infinite-dimensional port-Hamiltonian systems using differential operators. Automatica 50, 607–613 (2014)"
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},
{
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{
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},
{
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},
{
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{
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{
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{
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},
{
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},
{
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{
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},
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{
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"doi": "10.23919/acc.2017.7963327"
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"type": "proceedings-article",
"title": "Structure preserving spatial discretization of 2D hyperbolic systems using staggered grids finite difference",
"authors": [
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"given": "Vincent",
"family": "Trenchant",
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"abstract": "This paper proposes a finite difference spatial discretization scheme that preserve the port-Hamiltonian structure of 1D and 2D infinite dimensional hyperbolic systems. This scheme is based on the use of staggered grids for the discretization of the state and co state variables of the system. It is shown that, by an appropriate choice of the boundary port variables, the underlying geometric structure of the infinite-dimensional system, i.e. its Dirac structure, is preserved during the discretization step. The consistency of the spatial discretization scheme is evaluated and its accuracy is validated with numerical results.",
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"issue": "",
"pages": "2491--2496",
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{
"identifiers": {
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"citation": "Macchelli, A. Boundary Energy Shaping of Linear Distributed Port-Hamiltonian Systems. IFAC Proceedings Volumes vol. 45 120–125 (2012)"
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{
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{
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"doi": "10.1016/j.geomphys.2012.02.006"
},
"citation": "Seslija, M., van der Schaft, A. & Scherpen, J. M. A. Discrete exterior geometry approach to structure-preserving discretization of distributed-parameter port-Hamiltonian systems. Journal of Geometry and Physics vol. 62 1509–1531 (2012)"
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{
"identifiers": {
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},
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{
"identifiers": {
"doi": "10.1109/cdc.2007.4434237"
},
"citation": "Hamroun, B., Lefevre, L. & Mendes, E. Port-based modelling and geometric reduction for open channel irrigation systems. 2007 46th IEEE Conference on Decision and Control 1578–1583 (2007) doi:10.1109/cdc.2007.4434237"
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"doi": "10.1016/j.jcp.2011.10.008"
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},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2011.04.016"
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"citation": "Macchelli, A. Energy shaping of distributed parameter port-Hamiltonian systems based on finite element approximation. Systems & Control Letters vol. 60 579–589 (2011)"
},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2015.10.240"
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"citation": "Wu, Y., Hamroun, B., Gorrec, Y. L. & Maschke, B. Power preserving model reduction of 2D vibro-acoustic system: A port Hamiltonian approach. IFAC-PapersOnLine vol. 48 206–211 (2015)"
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{
"identifiers": {
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},
"citation": "Le Gorrec, Y., Peng, H., Lefèvre, L., Hamroun, B. & Couenne, F. Systèmes hamiltoniens à ports de dimension infinie. Réduction et propriétés spectrales. Journal Européen des Systèmes Automatisés vol. 45 645–664 (2011)"
},
{
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},
{
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},
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},
{
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},
{
"identifiers": {
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},
"citation": "Jacob, B. & Zwart, H. J. Linear Port-Hamiltonian Systems on Infinite-Dimensional Spaces. (Springer Basel, 2012). doi:10.1007/978-3-0348-0399-1"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
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},
{
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{
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{
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{
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{
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},
{
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}
]
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{
"id": "1c51753b-7402-5514-8b30-bb6c1c0654dc",
"identifiers": {
"doi": "10.23919/acc.2017.7963404"
},
"type": "proceedings-article",
"title": "Safety analysis of integrated adaptive cruise control and lane keeping control using discrete-time models of port-Hamiltonian systems",
"authors": [
{
"given": "Siyuan",
"family": "Dai",
"literal": null,
"source_fields": {
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}
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{
"given": "Xenofon",
"family": "Koutsoukos",
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"abstract": "For continuous-time port-Hamiltonian systems (PHS), safety can be shown using the Hamiltonian function as a barrier between the safe and unsafe states. However, the safety property may not be preserved when the system is discretized. This paper presents a safety analysis approach for discrete-time models of PHS using conservative time-discretization and applies the approach to the design of a safe integrated adaptive cruise control (ACC) and lane keeping control (LKC) system. Instead of performing safety analysis in continuous-time and then imposing conditions so that safety is preserved after discretization, safety conditions are developed for a discrete-time model. The approach is applied to the safety analysis of a vehicle dynamics composed with an ACC and a LKC. A hardware-in-the-loop simulation platform is used to evaluate the approach.",
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"issue": "",
"pages": "2980--2985",
"publisher": "IEEE",
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"references": [
{
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},
{
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{
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{
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{
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},
{
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{
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{
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{
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"given": "Yongxin",
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"abstract": "This paper deals with the reduced order controller design for infinite dimensional port Hamiltonian systems (IDPHS). Firstly, a structure preserving and passive LQG control design equivalent to Control by Interconnection is proposed. Based on this LQG controller, a structure preserving reduction method is used to approximate both the closed loop IDPHS and the LQG controller. This closed loop reduction guarantees that the reduced order controller will ensure acceptable closed loop performances on the infinite dimensional system. The proposed methods is applied to the control of a vibro-acoustic system.",
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"abstract": "Many complex systems are modeled by a network of different subsystems, each having their underlying mathematical model representations. Energy-based modeling of each of these subsystems can yield a port-Hamiltonian (pH) representation. In this paper, a single-phase flow model, a dissipative mathematical component and a two-phase flow model are interconnected to model hydraulics for Managed Pressure Drilling (MPD) applications. These subsystems are interconnected in a power-preserving manner to build an aggregated pH system for real-life MPD scenarios. We prove that the interconnection junction connecting the single- and two-phase flow models is conditionally power-preserving.",
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{
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"abstract": "We address the problem of learning laws governing the behavior of physical systems. As a use case we choose the discovery of the dynamics of micron-scale chiplets in dielectric fluid whose motion is controlled by a set of electric potential. We use the port-Hamiltonian formalism as a high level model structure that is continuously refined based on our understanding of the physical process. In addition, we use machine learning inspired models as low level representations. Representation structure is key in learning generalizable models, as shown by the learning results.",
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{
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{
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"doi": "10.23919/acc45564.2020.9147748"
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"title": "A Port-Hamiltonian Approach to Complete Vehicle Energy Management: A Battery Electric Vehicle Case Study",
"authors": [
{
"given": "G. P.",
"family": "Padilla",
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"given": "J. C.",
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"abstract": "In this paper, we present a modelling approach to vehicle energy management based on Port-Hamiltonian systems representations. We consider a network of interconnected port-Hamiltonian systems that describes the powertrain components and auxiliaries in the vehicle. This description is suitable to obtain a systematic approach to formulate a decomposable optimal control problem for Complete Vehicle Energy Management. A physically insightful cost function that describes the total energy consumption of the vehicle is proposed in terms of internal energy and losses of each system connected to the network. Taking advantage of the modularity of the proposed formulation, we present a distributed optimization algorithm to find solutions to the energy management problem. To illustrate this modelling methodology, we consider a case study in which the energy consumption of a battery electric vehicle is optimized.",
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"pages": "288--294",
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{
"identifiers": {},
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{
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{
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"doi": "10.1109/cdc40024.2019.9028963"
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"doi": "10.23919/acc.2018.8431544"
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"citation": "Khalik, Z., Padilla, G. P., Romijn, T. C. J. & Donkers, M. C. F. Vehicle Energy Management with Ecodriving: A Sequential Quadratic Programming Approach with Dual Decomposition. 2018 Annual American Control Conference (ACC) 4002–4007 (2018) doi:10.23919/acc.2018.8431544"
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"abstract": "Task-invariant control methods for powered exoskeletons provide flexibility in assisting humans across multiple activities and environments. Energy shaping control serves this purpose by altering the human body's dynamic characteristics in closed loop. Our previous work on potential energy shaping alters the gravitational vector to reduce the user's perceived gravity, but this method cannot provide velocity-dependent assistance. The interconnection and damping assignment passivity-based control (IDA-PBC) method provides more freedom to shape a dynamical system's energy through the interconnection structure of a port-controlled Hamiltonian system model. This paper derives a novel energetic control strategy based on IDA-PBC for a backdrivable knee-ankle exoskeleton. The control law provides torques that depend on various basis functions related to gravitational and gyroscopic terms. We optimize a set of constant weighting parameters for these basis functions to obtain a control law that produces ablebodied joint torques during walking on multiple ground slopes. We perform experiments with an able-bodied human subject wearing a knee-ankle exoskeleton to demonstrate reduced activation in certain lower-limb muscles.",
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"abstract": "This paper considers the problem of a rotating flexible beam in collision with an external object. The flexible beam's colliding equations exhibit instant changes during impact times, therefore the model is cast in the class of switched infinite dimensional operator systems. The aim is to study the stability of the closed loop system with a PD control law, making use of the semigroup formalism together with the Lyapunov stability theory. To this end, we present a new stability result making use of multiple Lyapunov functions obtained as an adaptation of a theorem from finite dimensional hybrid systems theory. We show the port-Hamiltonian modelling procedure for a controlled rotating flexible beam in impact scenario, using distributed parameter equations to describe the beam's dynamic. Then, we compute the equilibrium position of the closed loop system and using the shifted variables with respect to the equilibrium position, we cast the system in the class of switched infinite dimensional operator systems. Finally we select the Lyapunov functions for the contact and non-contact phases and we show, through numerical simulations, that they respect the assumptions of the proposed stability theorem.",
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"title": "(Cyclo-Passive) Port-Controlled Hamiltonian dynamics in LQ differential games",
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"given": "M.",
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"given": "Luis A.",
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"abstract": "In this paper, we consider the boundary control of the 1D heat equation using an irreversible port Hamiltonian systems (IPHS) formulation. This formulation allows to cope with the second principle of Thermodynamics and exhibits the physical properties of the system. We extend the Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) method developed for port Hamiltonian systems to the available energy-based boundary control of IPHS. This method allows to achieve the desired equilibrium profile without constraints on the boundary conditions or on the initial profile of the plant. The method is illustrated by means of simulations considering the boundary control of the 1D heat diffusion in a copper rod.",
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"title": "Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton",
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"given": "Jiefu",
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"name": "University of Michigan,Electrical Engineering and Computer Science,Ann Arbor,MI,USA,48109"
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"abstract": "Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant assistance by altering the human body’s dynamic characteristics in the closed loop. While human-exoskeleton systems are often modeled using Euler-Lagrange equations, in our previous work we modeled the system as a port-controlled-Hamiltonian system, and a task-invariant controller was designed for a knee-ankle exoskeleton using interconnection-damping assignment passivity-based control. In this paper, we extend this framework to design a controller for a backdrivable hip exoskeleton to assist multiple tasks. A set of basis functions that contains information of kinematics is selected and corresponding coefficients are optimized, which allows the controller to provide torque that fits normative human torque for different activities of daily life. Human-subject experiments with two able-bodied subjects demonstrated the controller’s capability to reduce muscle effort across different tasks.",
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"pages": "2065--2070",
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"doi": "10.23919/ccc52363.2021.9550640"
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"type": "proceedings-article",
"title": "Application of Energy Shaping of Port-Hamiltonian System to Chaos Synchronization",
"authors": [
{
"given": "Bin",
"family": "Zheng",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Shanghai University,School of Mechanics and Engineering Science,Shanghai Institute of Applied Mathematics and Mechanics and Shanghai Key Laboratory of Mechanics in Energy Engineering,Shanghai,China,200444"
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"given": "Jianping",
"family": "Cai",
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"affiliation": [
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"name": "Minnan Normal University,School of Mathematics and Statistics,Zhangzhou,China,363000"
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"name": "Shanghai University,School of Mechanics and Engineering Science,Shanghai Institute of Applied Mathematics and Mechanics and Shanghai Key Laboratory of Mechanics in Energy Engineering,Shanghai,China,200444"
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"abstract": "This paper investigates the issue of chaos synchronization of coupled dynamical systems by the use of energy shaping in port-Hamiltonian systems. A energy-based control scheme is developed to realize chaos synchronization in term of port- Hamiltonian systems, and the asymptotical stability for the closed-loop Hamiltonian system is derived by using the LaSalle’s invariance principle. It is shown that the developed energy-based synchronization scheme is relatively simple and easy to implement compared with some recent literatures. Finally, two simulation examples are performed to demonstrate the effectiveness of the proposed synchronization strategy method.",
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"pages": "561--566",
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},
"type": "proceedings-article",
"title": "PID Passive-Based Control of Spacecraft Formation Flying in the Port-Hamiltonian Framework",
"authors": [
{
"given": "Jiaming",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "China Academy of Space Technology,Qian Xuesen Laboratory of Space Technology,Beijing,P. R. China,100094"
}
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}
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{
"given": "Wei",
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"literal": null,
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"affiliation": [
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"name": "China Academy of Space Technology,Qian Xuesen Laboratory of Space Technology,Beijing,P. R. China,100094"
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{
"given": "Qingrui",
"family": "Zhou",
"literal": null,
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"sequence": "additional",
"affiliation": [
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"name": "China Academy of Space Technology,Qian Xuesen Laboratory of Space Technology,Beijing,P. R. China,100094"
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}
},
{
"given": "Jiang",
"family": "Shao",
"literal": null,
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"name": "China Academy of Space Technology,Qian Xuesen Laboratory of Space Technology,Beijing,P. R. China,100094"
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"abstract": "The relative position and velocity control problem of spacecraft formation flight (SFF)is a classically significant problem in the field of space control. In this paper, we propose a high-precision nonlinear dynamics model for spacecraft formation flight with J2 perturbation in the framework of the port-Hamiltonian (pH) system. And through the application of the PID passive-based control method (PID-PBC), we give a new controller design method for the dynamics of SFF. Applying the leader-multi-follower spacecraft architecture, we first establish a nonlinear spacecraft formation dynamics model in the pH framework in the Earth Centered Inertial framework, and then transform it to the LVLH frame to establish a spacecraft relative motion dynamics model, and retain the nonlinear structure and $J_{2}$ perturbation. Then a PID-PBC controller was established by constructing an additional system and designing a closed-loop Lyapunov function to ensure the stability of the target position. Numerical simulations show that the method is effective under the spacecraft formation reconfiguration mission.",
"container_title": "2023 42nd Chinese Control Conference (CCC)",
"publication_year": "2023",
"volume": "",
"issue": "",
"pages": "820--825",
"publisher": "IEEE",
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"references": [
{
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{
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},
{
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"identifiers": {
"doi": "10.23919/chicc.2017.8028675"
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"type": "proceedings-article",
"title": "Passivity-based formation control of autonomous underwater vehicles with input disturbances",
"authors": [
{
"given": "Tingting",
"family": "Yang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Shuanghe",
"family": "Yu",
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}
},
{
"given": "Pengfei",
"family": "Zhang",
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{
"given": "Yan",
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"abstract": "This paper addresses the formation keeping of a network of Port-Controlled Hamiltonian(PCH) AUV multi-agent systems. The objective is solved by interconnecting agents with virtual couplings based on the internal principle, which can look into the energy consumption. Firstly, the controller for tracking estimated velocity is designed by ultilizing Hamiltonian theory. We assume that the desired velocity is time-varying and only known to part of the agents. Sencondly, an observer based on internal model is designed to overcome the input disturbances by adding extended states, while preserving the PCH form. Numerical simulation results are given to illustrate the effectiveness of the approach.",
"container_title": "2017 36th Chinese Control Conference (CCC)",
"publication_year": "2017",
"volume": "",
"issue": "",
"pages": "8324--8329",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2017-09-29",
"permalink": "passivity-based-formation-control-of-autonomous-underwater-vehicles-with-input-disturbances",
"references": [
{
"identifiers": {
"doi": "10.1016/j.automatica.2016.01.038"
},
"citation": "Knorn, S. & Ahlén, A. Deviation bounds in multi agent systems described by undirected graphs. Automatica 67, 205–210 (2016)"
},
{
"identifiers": {
"doi": "10.1016/j.oceaneng.2015.05.014"
},
"citation": "Valentinis, F., Donaire, A. & Perez, T. Energy-based motion control of a slender hull unmanned underwater vehicle. Ocean Engineering 104, 604–616 (2015)"
},
{
"identifiers": {
"doi": "10.1016/j.conengprac.2015.07.010"
},
"citation": "Valentinis, F., Donaire, A. & Perez, T. Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory. Control Engineering Practice 44, 138–156 (2015)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2012.02.022"
},
"citation": "Donaire, A. & Perez, T. Dynamic positioning of marine craft using a port-Hamiltonian framework. Automatica 48, 851–856 (2012)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2015.7402873"
},
"citation": "Monshizadeh, N. & De Persis, C. Output agreement in networks with unmatched disturbances and algebraic constraints. 2015 54th IEEE Conference on Decision and Control (CDC) 4196–4201 (2015) doi:10.1109/cdc.2015.7402873"
},
{
"identifiers": {
"doi": "10.3182/20140824-6-za-1003.00394"
},
"citation": "Vos, E., Scherpen, J. M. A., Schaft, A. J. van der & Postma, A. Formation Control of Wheeled Robots in the Port-Hamiltonian Framework. IFAC Proceedings Volumes 47, 6662–6667 (2014)"
},
{
"identifiers": {},
"citation": "li, Finite-time consensus algorithms for multiple AUVs. Proceedings of the 32nd Chinese Control Conference (2013)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2013.08.001"
},
"citation": "Wei, J. & van der Schaft, A. J. Load balancing of dynamical distribution networks with flow constraints and unknown in/outflows. Systems & Control Letters 62, 1001–1008 (2013)"
},
{
"identifiers": {
"doi": "10.1109/wcica.2012.6358163"
},
"citation": "Wei, A., Wang, Y. & Hu, X. Adaptive simultaneous stabilization of two Port-Controlled Hamiltonian systems subject to actuator saturation. Proceedings of the 10th World Congress on Intelligent Control and Automation 1767–1772 (2012) doi:10.1109/wcica.2012.6358163"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2012.02.022"
},
"citation": "Donaire, A. & Perez, T. Dynamic positioning of marine craft using a port-Hamiltonian framework. Automatica 48, 851–856 (2012)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2014.10.038"
},
"citation": "Knorn, S., Donaire, A., Agüero, J. C. & Middleton, R. H. Passivity-based control for multi-vehicle systems subject to string constraints. Automatica 50, 3224–3230 (2014)"
},
{
"identifiers": {
"doi": "10.1049/iet-cta.2011.0354"
},
"citation": "Wang, Y., Yan, W. & Li, J. Passivity-based formation control of autonomous underwater vehicles. IET Control Theory Appl. 6, 518–525 (2012)"
},
{
"identifiers": {},
"citation": "wang, A leader-follower formation control strategy for AUVs based on line-of-sight guidance. International Conference on Mechatronics and Automation (2009)"
},
{
"identifiers": {
"doi": "10.1109/tac.2014.2309281"
},
"citation": "Andreasson, M., Dimarogonas, D. V., Sandberg, H. & Johansson, K. H. Distributed Control of Networked Dynamical Systems: Static Feedback, Integral Action and Consensus. IEEE Trans. Automat. Contr. 59, 1750–1764 (2014)"
}
]
},
{
"id": "882bbe08-3889-5313-b87d-da2d6eb821c8",
"identifiers": {
"doi": "10.23919/chicc.2018.8482605"
},
"type": "proceedings-article",
"title": "Adaptive Stabilization and $H_{\\infty}$ Control for Switched Nonlinear Port-Controlled Hamiltonian Systems with Parameter Perturbations",
"authors": [
{
"given": "Zi-Ming",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Airong",
"family": "Wei",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Haixia",
"family": "Shen",
"literal": null,
"source_fields": {
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],
"abstract": "The problems of adaptive stabilization and $H_{\\infty}$ control for switched nonlinear port-controlled Hamiltonian systems with parameter perturbations are investigated via the multiple Lyapunov functions method. Firstly, based on reasonable assumptions, an adaptive feedback law is designed and sufficient conditions are obtained for the stabilization of the switched system. Secondly, when the external disturbance is considered, an adaptive $H_{\\infty}$ feedback controller is given to solve the $H_{\\infty}$ control for the switched system. Finally, a numerical example is presented to illustrate the effectiveness of the proposed method.",
"container_title": "2018 37th Chinese Control Conference (CCC)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "891--896",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-10-09",
"permalink": "adaptive-stabilization-and-lt-tex-gt-h-infty-lt-tex-gt-control-for-switched-nonlinear-port-controlled-hamiltonian-systems-with-parameter-perturbations",
"references": [
{
"identifiers": {
"doi": "10.1007/s11432-006-2005-7"
},
"citation": "Zhu, L. & Wang, Y. Study on the stability of switched dissipative Hamiltonian systems. SCI CHINA SER F 49, 578–591 (2006)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2010.08.001"
},
"citation": "Wei, A. & Wang, Y. Stabilization and H∞ control of nonlinear port-controlled Hamiltonian systems subject to actuator saturation. Automatica 46, 2008–2013 (2010)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2005.09.012"
},
"citation": "Laila, D. S. & Astolfi, A. Construction of discrete-time models for port-controlled Hamiltonian systems with applications. Systems & Control Letters 55, 673–680 (2006)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(03)00132-8"
},
"citation": "Wang, Y., Li, C. & Cheng, D. Generalized Hamiltonian realization of time-invariant nonlinear systems. Automatica 39, 1437–1443 (2003)"
},
{
"identifiers": {
"doi": "10.1049/iet-cta.2015.1165"
},
"citation": "Sun, W. & Fu, B. Adaptive control of time‐varying uncertain non‐linear systems with input delay: a Hamiltonian approach. IET Control Theory & Appl 10, 1844–1858 (2016)"
},
{
"identifiers": {
"doi": "10.1016/j.jfranklin.2017.07.013"
},
"citation": "Lu, X., Zhang, X. & Sun, L. Finite-time H ∞ control for nonlinear discrete Hamiltonian descriptor systems. Journal of the Franklin Institute 354, 6138–6151 (2017)"
},
{
"identifiers": {},
"citation": "van der schaft, L2 -Gain and passivity techniques in nonlinear control (1999)"
},
{
"identifiers": {
"doi": "10.1002/asjc.1428"
},
"citation": "Li, H. & Wei, A. Stabilization and H∞ Control of Nonlinear Switched Hamiltonian Systems Subject to Actuator Saturation. Asian Journal of Control 19, 951–960 (2016)"
},
{
"identifiers": {
"doi": "10.1002/rnc.1628"
},
"citation": "Hernandez‐Vargas, E., Colaneri, P., Middleton, R. & Blanchini, F. Discrete‐time control for switched positive systems with application to mitigating viral escape. Intl J Robust & Nonlinear 21, 1093–1111 (2011)"
},
{
"identifiers": {
"doi": "10.1016/j.neucom.2016.12.011"
},
"citation": "Tang, L. & Zhao, J. Neural network based adaptive prescribed performance control for a class of switched nonlinear systems. Neurocomputing 230, 316–321 (2017)"
},
{
"identifiers": {
"doi": "10.1016/j.jfranklin.2017.08.008"
},
"citation": "Wang, X., Li, H., Zong, G. & Zhao, X. Adaptive fuzzy tracking control for a class of high-order switched uncertain nonlinear systems. Journal of the Franklin Institute 354, 6567–6587 (2017)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2017.05.008"
},
"citation": "Wu, C. & Liu, X. External stability of switching control systems. Systems & Control Letters 106, 24–31 (2017)"
},
{
"identifiers": {
"doi": "10.1016/j.nahs.2018.01.004"
},
"citation": "Liu, Z., Zhang, X., Lu, X. & Liu, Q. Stabilization of positive switched delay systems with all modes unstable. Nonlinear Analysis: Hybrid Systems 29, 110–120 (2018)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2017.2684832"
},
"citation": "Li, T. & Parsa, L. Design, Control, and Analysis of a Fault-Tolerant Soft-Switching DC–DC Converter for High-Power High-Voltage Applications. IEEE Trans. Power Electron. 33, 1094–1104 (2018)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2013.6759996"
},
"citation": "Hajiahmadi, M., De Schutter, B. & Hellendoorn, H. Robust H<inf>∞</inf> control for switched nonlinear systems with application to high-level urban traffic control. 52nd IEEE Conference on Decision and Control 899–904 (2013) doi:10.1109/cdc.2013.6759996"
},
{
"identifiers": {
"doi": "10.1016/j.nahs.2011.05.005"
},
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}
]
},
{
"id": "95fd5556-6a07-5825-81cf-608c92f58669",
"identifiers": {
"doi": "10.23919/chicc.2018.8482759"
},
"type": "proceedings-article",
"title": "Improved Results for Port-Hamiltonian Systems Subjected to Actuator Saturation via Energy-Shaped",
"authors": [
{
"given": "Liangcheng",
"family": "Cai",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
}
],
"abstract": "The existed control methods for Port-Hamiltonian (PH) systems subjected to actuator saturation (AS) were only beneficial for the Hamiltonian function having a local minimum at its equilibrium point. Once the Hamiltonian function do not have that feature or is not positive definite, the existed methods are ineffective. To improve the defect of existed methods, this paper investigates the stabilization of PH systems subjected to AS via energy-shaped and Hoo control. Compared with the existed results, the proposed methods not only effectively deal with the Hamiltonian function having a local minimum, but also work out that the Hamiltonian function is not positive definite at the equilibrium point or not bounded from the below. Thus, the proposed methods enlarge the applications of PH systems subjected to AS. Finally, example is given to show the validity and advantage of the proposed methods.",
"container_title": "2018 37th Chinese Control Conference (CCC)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "310--315",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-10-09",
"permalink": "improved-results-for-port-hamiltonian-systems-subjected-to-actuator-saturation-via-energy-shaped",
"references": [
{
"identifiers": {},
"citation": "hu, Control systems with actuator saturation: analysis and design. Boston Birkhauser (2001)"
},
{
"identifiers": {
"doi": "10.1109/tcst.2003.813404"
},
"citation": "Zairong Xi, Feng, G., Daizhan Cheng & Qiang Lu. Nonlinear decentralized saturated controller design for power systems. IEEE Trans. Contr. Syst. Technol. 11, 539–547 (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2010.08.001"
},
"citation": "Wei, A. & Wang, Y. Stabilization and H∞ control of nonlinear port-controlled Hamiltonian systems subject to actuator saturation. Automatica 46, 2008–2013 (2010)"
},
{
"identifiers": {},
"citation": "cai, The Relationship between Overshoot and Damping Injection for the Port-Hamiltonian System Subject to Actuator Saturation. proceedings of the 34th Chinese Control Conference (2015)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2015.08.010"
},
"citation": "Zhang, M., Ortega, R., Jeltsema, D. & Su, H. Further deleterious effects of the dissipation obstacle in control-by-interconnection of port-Hamiltonian systems. Automatica 61, 227–231 (2015)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2016.05.028"
},
"citation": "Borja, P., Cisneros, R. & Ortega, R. A constructive procedure for energy shaping of port—Hamiltonian systems. Automatica 72, 230–234 (2016)"
},
{
"identifiers": {
"doi": "10.1016/j.jfranklin.2017.02.004"
},
"citation": "Cai, L. & He, Y. Exponential stability of port-Hamiltonian systems via energy-shaped method. Journal of the Franklin Institute 354, 2944–2958 (2017)"
},
{
"identifiers": {},
"citation": "lu, Nonlinear Control of Power System (1993)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2009.04.006"
},
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},
{
"identifiers": {
"doi": "10.1109/tac.2008.2006930"
},
"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 53, 2527–2542 (2008)"
},
{
"identifiers": {
"doi": "10.1109/tac.2014.2315754"
},
"citation": "Ramirez, H., Le Gorrec, Y., Macchelli, A. & Zwart, H. Exponential Stabilization of Boundary Controlled Port-Hamiltonian Systems With Dynamic Feedback. IEEE Trans. Automat. Contr. 59, 2849–2855 (2014)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2013.05.011"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
"citation": "Schiffer, J., Ortega, R., Astolfi, A., Raisch, J. & Sezi, T. Conditions for stability of droop-controlled inverter-based microgrids. Automatica 50, 2457–2469 (2014)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1109/tpwrs.2016.2605007"
},
"citation": "Cai, L., He, Z. & Hu, H. A New Load Frequency Control Method of Multi-Area Power System via the Viewpoints of Port-Hamiltonian System and Cascade System. IEEE Trans. Power Syst. 32, 1689–1700 (2017)"
}
]
},
{
"id": "47148d74-aeca-599a-9339-0b28642aa95d",
"identifiers": {
"doi": "10.23919/chicc.2019.8865979"
},
"type": "proceedings-article",
"title": "LQG control for flexible micro-grippers with additional integral action",
"authors": [
{
"given": "Yongxin",
"family": "Wu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Hector",
"family": "Ramirez",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Yann Le",
"family": "Gorrec",
"literal": null,
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],
"abstract": "This paper deals with the stabilizing control design for a class of micro-grippers for DNA manipulation using boundary controlled infinite-dimensional port-Hamiltonian systems. In practical applications, the controllers are implemented as finite-dimensional systems actuating at the boundaries of an infinite-dimensional system. The design of the finite-dimensional controllers is still a challenge, especially for hyperbolic PDEs. For this purpose, the LQG balancing reduction method is suitable for the reduced order control design since it considers the closed loop behavior in the reduction procedure. This paper presents the application of this recently proposed method combined with integral action in order to improve the robustness of the closed-loop system. It is shown by means of simulation that the addition of integral action effectively rejects constant perturbations while assuring global closed-loop stability.",
"container_title": "2019 Chinese Control Conference (CCC)",
"publication_year": "2019",
"volume": "",
"issue": "",
"pages": "1081--1086",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2019-10-17",
"permalink": "lqg-control-for-flexible-micro-grippers-with-additional-integral-action",
"references": [
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
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},
{
"identifiers": {
"doi": "10.1109/cdc.2013.6759924"
},
"citation": "Ramirez, H., Le Gorrec, Y. & Zwart, H. Exponential stabilization of a class of flexible microgrippers using dynamic boundary port Hamiltonian control. 52nd IEEE Conference on Decision and Control 460–465 (2013) doi:10.1109/cdc.2013.6759924"
},
{
"identifiers": {
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},
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},
{
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"citation": "Wu, Y., Hamroun, B., Le Gorrec, Y. & Maschke, B. Structure preserving reduction of port hamiltonian system using a modified LQG method. Proceedings of the 33rd Chinese Control Conference 3528–3533 (2014) doi:10.1109/chicc.2014.6895525"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2018.05.003"
},
"citation": "Wu, Y., Hamroun, B., Le Gorrec, Y. & Maschke, B. Reduced order LQG control design for port Hamiltonian systems. Automatica vol. 95 86–92 (2018)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2018.05.003"
},
"citation": "Wu, Y., Hamroun, B., Le Gorrec, Y. & Maschke, B. Reduced order LQG control design for port Hamiltonian systems. Automatica vol. 95 86–92 (2018)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control vol. 10 432–450 (2004)"
},
{
"identifiers": {
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},
{
"identifiers": {
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{
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"abstract": "In this paper a novel co-energy modelling framework is presented for a relevant class of linear and nonlinear mechanical systems. The approach uses the classical Brayton-Moser equations which are deduced from a (port-)Hamiltonian description. The approach allows classical results from electrical circuit synthesis and analysis to be carried over exactly to the mechanical domain. It also enables one to apply (nonlinear) control techniques like Power Shaping as recently proposed in [7]. Illustrative examples are provided to facilitate the theoretical developments.",
"container_title": "2003 European Control Conference (ECC)",
"publication_year": "2003",
"volume": "",
"issue": "",
"pages": "435--440",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "on-mechanical-mixed-potential-content-and-co-content",
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"id": "f1d12b4b-85ca-5f1b-82dc-fbf733aeb9dc",
"identifiers": {
"doi": "10.23919/ecc.2003.7085142"
},
"type": "proceedings-article",
"title": "A variable structure approach to energy shaping",
"authors": [
{
"given": "A.",
"family": "Macchelli",
"literal": null,
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},
{
"given": "C.",
"family": "Melchiorri",
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}
},
{
"given": "C.",
"family": "Secchi",
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}
},
{
"given": "C.",
"family": "Fantuzzi",
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"abstract": "The port-Hamiltonian formalism is a very powerful tool for describing dynamical systems and their interconnections and for designing control laws with specified energetic properties. In this paper, in particular, it is shown how a variable structure control can be designed in this general framework in order to achieve a passive systems with, additionally, the robust properties obtainable with variable structure systems. Simulation results obtained with a 2-dof manipulator are reported and discussed in order to validate the proposed approach.",
"container_title": "2003 European Control Conference (ECC)",
"publication_year": "2003",
"volume": "",
"issue": "",
"pages": "1309--1314",
"publisher": "IEEE",
"event": "",
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"created_date": "2018-06-21",
"permalink": "a-variable-structure-approach-to-energy-shaping",
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{
"id": "db889c4f-c8d3-5fc4-9251-1042c164ea5b",
"identifiers": {
"doi": "10.23919/ecc.2007.7068599"
},
"type": "proceedings-article",
"title": "On balancing of passive systems",
"authors": [
{
"given": "Arjan",
"family": "van der Schaft",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Institute for Mathematics and Computing Science, University of Groningen, P.O. Box 800, 9700 AV, The Netherlands"
}
]
}
}
],
"abstract": "It is shown how the application of various standard balancing techniques to general lossless systems basically leads to the same result: the pair of to-be-balanced functions is given by two copies of the energy function. Hence balancing will not yield any information about the relative importance of the state components in a balanced realization. This result is extended to the lossy case, indicating that balancing in this case will largely depend on the internal energy dissipation. By using the representation of passive systems as port-Hamiltonian systems a direction for extending standard balancing is discussed.",
"container_title": "2007 European Control Conference (ECC)",
"publication_year": "2007",
"volume": "",
"issue": "",
"pages": "4173--4178",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "on-balancing-of-passive-systems",
"references": [
{
"identifiers": {
"doi": "10.1109/9.53555"
},
"citation": "van der Schaft, A. J. & Oeloff, J. E. Model reduction of linear conservative mechanical systems. IEEE Trans. Automat. Contr. 35, 729–733 (1990)"
},
{
"identifiers": {},
"citation": "van der schaft, The Hamiltonian formulation of energy conserving physical systems with external ports. Arch Elektron Ubertragungstechn (1995)"
},
{
"identifiers": {},
"citation": "weiland, Theory of Approximation and Disturbance Attenuation for Linear Systems (1991)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2004.07.006"
},
"citation": "Sorensen, D. C. Passivity preserving model reduction via interpolation of spectral zeros. Systems & Control Letters 54, 347–360 (2005)"
},
{
"identifiers": {},
"citation": "van der schaft, L2-Gain and Passivity Techniques in Nonlinear Control. Lect Notes in Control and Information Sciences Vol 218 Springer-Verlag Berlin 1996 p 168 2nd revised and enlarged edition (0)"
},
{
"identifiers": {
"doi": "10.1080/00207179408921517"
},
"citation": "SCHERPEN, J. M. A. & VAN DER SCHAFT, A. J. Normalized coprime factorizations and balancing for unstable nonlinear systems. International Journal of Control 60, 1193–1222 (1994)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2004.07.007"
},
"citation": "Antoulas, A. C. A new result on passivity preserving model reduction. Systems & Control Letters 54, 361–374 (2005)"
},
{
"identifiers": {},
"citation": "abraham, Foundations of Mechanics. (1978)"
},
{
"identifiers": {
"doi": "10.1007/bf00276493"
},
"citation": "Willems, J. C. Dissipative dynamical systems part I: General theory. Arch. Rational Mech. Anal. 45, 321–351 (1972)"
},
{
"identifiers": {
"doi": "10.1109/tac.1981.1102568"
},
"citation": "Moore, B. Principal component analysis in linear systems: Controllability, observability, and model reduction. IEEE Trans. Automat. Contr. 26, 17–32 (1981)"
},
{
"identifiers": {},
"citation": "meirovitch, Analytical Methods in Vibrations. (1967)"
},
{
"identifiers": {
"doi": "10.1016/0167-6911(93)90117-o"
},
"citation": "Scherpen, J. M. A. Balancing for nonlinear systems. Systems & Control Letters 21, 143–153 (1993)"
},
{
"identifiers": {},
"citation": "escobar, A Hamiltonian viewpoint in the modelling of switching power converters. Automatica Special Issue on Hybrid Systems (1999)"
},
{
"identifiers": {
"doi": "10.1109/tcsi.2003.815195"
},
"citation": "Camlibel, M. K., Heemels, W. P. M. H., van der Schaft, A. J. & Schumacher, J. M. Switched networks and complementarity. IEEE Trans. Circuits Syst. I 50, 1036–1046 (2003)"
},
{
"identifiers": {
"doi": "10.1109/tac.1983.1103159"
},
"citation": "Jonckheere, E. & Silverman, L. A new set of invariants for linear systems--Application to reduced order compensator design. IEEE Trans. Automat. Contr. 28, 953–964 (1983)"
},
{
"identifiers": {
"doi": "10.1109/tac.1976.1101352"
},
"citation": "Hill, D. & Moylan, P. The stability of nonlinear dissipative systems. IEEE Trans. Automat. Contr. 21, 708–711 (1976)"
}
]
},
{
"id": "6e530de0-00bc-50d7-a86d-09dd59025ea7",
"identifiers": {
"doi": "10.23919/ecc.2007.7068701"
},
"type": "proceedings-article",
"title": "Time-varying port-representation of dissipative structures with gauge transformations",
"authors": [
{
"given": "Gou",
"family": "Nishida",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Masaki",
"family": "Yamakita",
"literal": null,
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}
},
{
"given": "Zhi-wei",
"family": "Luo",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "A distributed-port-Hamiltonian system is a generalized model for passivity-based controls. The system representation has been extended to an infinite-dimensional conservative system derived from variational calculus, which is called a field-port-Lagrangian system. A lot of practical systems for control engineering include dissipative elements; however such a non-conservative structure usually cannot be defined by a variational problem. This paper shows that a system with the dissipative structure can be defined as a time-varying fieldport-Lagrangian system by a gauge transformation. First, we show that the gauge transformation generates a time-dependent Lagrangian density functional that introduces the time-varying port-representation. Next, we present that a class of dissipative systems can be identified with a conservative system possessing an internal irreversible energy flow. Finally, we illustrate an equation of elastic films with viscosity damping with the time-varying port-representation.",
"container_title": "2007 European Control Conference (ECC)",
"publication_year": "2007",
"volume": "",
"issue": "",
"pages": "4819--4824",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "time-varying-port-representation-of-dissipative-structures-with-gauge-transformations",
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},
{
"id": "2a30daab-d209-57c6-b70e-ef244abef20d",
"identifiers": {
"doi": "10.23919/ecc.2007.7068753"
},
"type": "proceedings-article",
"title": "A combination of feedforward and feedback for the control of the nonlinear benchmark Inertia Wheel Pendulum",
"authors": [
{
"given": "Richard",
"family": "Stadlmayr",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Markus",
"family": "Schoberl",
"literal": null,
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}
},
{
"given": "Kurt",
"family": "Schlacher",
"literal": null,
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"sequence": "additional",
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}
}
],
"abstract": "This contribution is about the combination of a feedforward and feedback controller in order to force a nonlinear plant along a sufficiently smooth reference curve. This approach includes a feedforward part in the framework of Port-Controlled Hamiltonian Systems with Dissipation (PCHD systems). PCHD systems have turned out beneficially for the design of nonlinear controllers and provide special properties for the stability analysis of equilibrium points. By means of feedback control one may overcome model errors and disturbances for a real application. A passivity-based controller, which is designed for the PCHD error dynamics, exploits the mathematical structure of the system and forces the tracking error to zero. The combination of the feedforward and feedback part leads to a controller, which achieves good tracking behavior, cancels initial errors and rejects disturbances from the environment. The derivation of a control law which includes a feedforward part and a feedback controller will be shown for the nonlinear underactuated benchmark example Inertia Wheel Pendulum.",
"container_title": "2007 European Control Conference (ECC)",
"publication_year": "2007",
"volume": "",
"issue": "",
"pages": "5802--5808",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "a-combination-of-feedforward-and-feedback-for-the-control-of-the-nonlinear-benchmark-inertia-wheel-pendulum",
"references": []
},
{
"id": "2f0fcf69-48ae-59c0-aaf2-57a46c9f6cda",
"identifiers": {
"doi": "10.23919/ecc.2007.7068850"
},
"type": "proceedings-article",
"title": "Trajectory tracking for permanent magnet synchronous motors",
"authors": [
{
"given": "Luca",
"family": "Gentili",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Andrea",
"family": "Paoli",
"literal": null,
"source_fields": {
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}
},
{
"given": "Claudio",
"family": "Bonivento",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In this paper an adaptive internal model based control scheme is designed to deal with an exogenous trajectory tracking problem for a permanent magnet synchronous motor. More in detail we show how to design a controller able to guarantee the perfect asymptotic tracking of unknown exogenous trajectories belonging to a certain family, embedding in the regulator the internal model of this family; the theoretical machinery exploited in order to prove the global asymptotical stability of the proposed solution is the nonlinear regulation theory, specialized for the energy-based port-Hamiltonian formalism.",
"container_title": "2007 European Control Conference (ECC)",
"publication_year": "2007",
"volume": "",
"issue": "",
"pages": "5795--5801",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "trajectory-tracking-for-permanent-magnet-synchronous-motors",
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},
{
"id": "49267c6a-c563-5276-802d-c1b335faf4c9",
"identifiers": {
"doi": "10.23919/ecc.2009.7074410"
},
"type": "proceedings-article",
"title": "Asymptotic path following and velocity control of port-Hamiltonian systems",
"authors": [
{
"given": "Mitsuru",
"family": "Taniguchi",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Kenji",
"family": "Fujimoto",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "This paper is devoted to path following control for port-Hamiltonian systems which have energy dissipation mechanism. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on co-tangent spaces instead of those on tangent spaces. Since port-Hamiltonian systems can describe a wider class of systems than conventional mechanical ones, the proposed method is applicable to various systems. Futhermore, we can control the velocity directly by this method while it is not possible with the conventional approach.",
"container_title": "2009 European Control Conference (ECC)",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "236--241",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "asymptotic-path-following-and-velocity-control-of-port-hamiltonian-systems",
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},
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"id": "5172e305-55e4-5034-a58b-a249da7c3cd8",
"identifiers": {
"doi": "10.23919/ecc.2009.7074420"
},
"type": "proceedings-article",
"title": "Stabilizing a flexible beam on a cart: A distributed port Hamiltonian approach",
"authors": [
{
"given": "Ravi N.",
"family": "Banavar",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Biswadip",
"family": "Dey",
"literal": null,
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}
}
],
"abstract": "",
"container_title": "2009 European Control Conference (ECC)",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "300--305",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "stabilizing-a-flexible-beam-on-a-cart-a-distributed-port-hamiltonian-approach0",
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},
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"id": "206f5d8e-71af-5fe0-97cf-66e35d4be22c",
"identifiers": {
"doi": "10.23919/ecc.2009.7074510"
},
"type": "proceedings-article",
"title": "Structure preserving port-Hamiltonian discretization of a 1-D inflatable space reflector",
"authors": [
{
"given": "T.",
"family": "Voss",
"literal": null,
"source_fields": {
"sequence": "first",
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}
},
{
"given": "J.M.A.",
"family": "Scherpen",
"literal": null,
"source_fields": {
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}
}
],
"abstract": "In this paper we show how to spatially discretize a distributed port-Hamiltonian (pH) system, which describes the dynamics of an 1-D piezoelectric Euler-Bernoulli beam. Standard spatial discretization schemes for PDE systems have the disadvantage that they typically lead to a finite dimensional system which is not anymore in the pH form. So, there is a need for a spatial discretization scheme which preserves the structure of the system. The problem of spatially discretizing a pH system with constant Stokes-Dirac structures and quadratic energy functions was solved in the past. But here we consider a piezoelectric Euler-Bernouli with nonlinear deformation. So, the Stokes-Dirac structure and energy function of the system are also nonlinear, and this causes some additional problems.",
"container_title": "2009 European Control Conference (ECC)",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "850--855",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "structure-preserving-port-hamiltonian-discretization-of-a-1-d-inflatable-space-reflector",
"references": []
},
{
"id": "070afbc0-ffe8-529f-8e29-1cce07c698f5",
"identifiers": {
"doi": "10.23919/ecc.2009.7074727"
},
"type": "proceedings-article",
"title": "Energy shaping of port-Hamiltonian systems by using alternate passive outputs",
"authors": [
{
"given": "Aneesh",
"family": "Venkatraman",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Arjan",
"family": "van der Schaft",
"literal": null,
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}
}
],
"abstract": "We consider port-Hamiltonian systems with dissipation (PHSD) whose underlying geometric structure is represented as the composition of a Dirac and a resistive structure. We show how the choice for a new passive output for a PHSD is reflected in a new Dirac structure. We define a general class of new passive outputs for a PHSD and subsequently compute (in a constructive manner) the resulting new Dirac structure and examine the achievable Casimirs for this new Dirac structure. We identify (on the basis of the achievable Casimirs) the precise form of the so-called dissipation obstacle, and how this obstacle may be removed by changing the passive output. We also review the “swapping the damping” procedure for computing a new passive output, and show how this can be obtained as a special case within our approach. We finally consider the examples of the RLC-circuit and MEMS optical switch to investigate the role played by the new class of passive outputs in shaping the system's energy.",
"container_title": "2009 European Control Conference (ECC)",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "2175--2180",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "energy-shaping-of-port-hamiltonian-systems-by-using-alternate-passive-outputs",
"references": []
},
{
"id": "e1ec4b36-61fd-5436-8370-aad7399960bc",
"identifiers": {
"doi": "10.23919/ecc.2009.7075020"
},
"type": "proceedings-article",
"title": "An energy-based control strategy for dc/dc power converters",
"authors": [
{
"given": "Richard",
"family": "Stadlmayr",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Kurt",
"family": "Schlacher",
"literal": null,
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}
}
],
"abstract": "This contribution is about the nonlinear controller design for power converters based on Port-Hamiltonian systems. Due to the high-frequency pulse width modulation we consider a so called average model for the power converter, which is the basis for the model-based controller design. It is the goal to derive a nonlinear control law for the DC/DC converter in order to achieve the desired output voltage. Furthermore an integral controller is added to guarantee a vanishing output error. The Port-Hamiltonian approach leads to a control law as well as a Lyapunov function for the closed loop stability analysis. In this contribution we consider a simple buck converter example and the Cuk power converter. The energy-based controllers are easy to implement and the included measurements of the Cuk converter are convincing.",
"container_title": "2009 European Control Conference (ECC)",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "3967--3972",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "an-energy-based-control-strategy-for-dc-dc-power-converters",
"references": []
},
{
"id": "98838228-266f-54f8-b87c-05c30c0bc68b",
"identifiers": {
"doi": "10.23919/ecc.2009.7075141"
},
"type": "proceedings-article",
"title": "Passivity-based tracking control of port-Hamiltonian mechanical systems with only position measurements",
"authors": [
{
"given": "D.A.",
"family": "Dirksz",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "J.M.A.",
"family": "Scherpen",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "Mechanical systems can be asymptotically stabilized without velocity measurements by applying a dynamic extension. By interconnecting the system with a (virtual) controller damping is indirectly injected into the system making velocity measurements unnecessary, provided that this damping propagates to the mechanical system. The approach has been shown for the case of potential energy shaping and for a class of systems requiring total energy shaping. In this paper we investigate the same idea for the trajectory tracking problem. Like with the stabilization problem we apply a dynamic extension to avoid having to measure the system velocities and still realize perfect tracking of a desired trajectory. This is done for fully-actuated port-Hamiltonian mechanical systems.",
"container_title": "2009 European Control Conference (ECC)",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "4689--4694",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "passivity-based-tracking-control-of-port-hamiltonian-mechanical-systems-with-only-position-measurements",
"references": []
},
{
"id": "b74de55b-92b5-545f-8ea4-74d032406635",
"identifiers": {
"doi": "10.23919/ecc.2009.7075143"
},
"type": "proceedings-article",
"title": "Control by interconnection and energy shaping methods of port Hamiltonian models - Application to the shallow water equations",
"authors": [
{
"given": "Boussad",
"family": "Hamroun",
"literal": null,
"source_fields": {
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}
},
{
"given": "Eduardo",
"family": "Mendes",
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}
},
{
"given": "Laurent",
"family": "Lefevre",
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],
"abstract": "",
"container_title": "2009 European Control Conference (ECC)",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "4701--4706",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "control-by-interconnection-and-energy-shaping-methods-of-port-hamiltonian-models-application-to-the-shallow-water-equations0",
"references": []
},
{
"id": "1bc43cbb-310c-5dc9-ad05-c8fda4a9f31e",
"identifiers": {
"doi": "10.23919/ecc.2009.7075144"
},
"type": "proceedings-article",
"title": "Energy-balancing passivity-based control is equivalent to dissipation and output invariance",
"authors": [
{
"given": "Fernando",
"family": "Castanos",
"literal": null,
"source_fields": {
"sequence": "first",
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}
},
{
"given": "Romeo",
"family": "Ortega",
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],
"abstract": "",
"container_title": "2009 European Control Conference (ECC)",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "4707--4714",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-06-21",
"permalink": "energy-balancing-passivity-based-control-is-equivalent-to-dissipation-and-output-invariance0",
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},
{
"id": "d4c76a20-7d8c-5c19-b7d6-e2c79b197064",
"identifiers": {
"doi": "10.23919/ecc.2009.7075145"
},
"type": "proceedings-article",
"title": "Moment matching for linear port-Hamiltonian systems",
"authors": [
{
"given": "Rostyslav V.",
"family": "Polyuga",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Arjan",
"family": "van der Schaft",
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}
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],
"abstract": "Moment matching approach of model reduction of linear dynamical state-space systems for a given input-generating system is discussed and applied to port-Hamiltonian systems. It is shown that the reduced order models inherit the port-Hamiltonian structure, the passivity property and preserve a certain number of the moments of a transfer function. Another approach to model reduction of port-Hamiltonian systems by means of the Krylov methods is considered. It is shown that in this case reduced order models are again port-Hamiltonian and therefore passive. The port-Hamiltonian structure of the reduced order models in both cases is investigated.",
"container_title": "2009 European Control Conference (ECC)",
"publication_year": "2009",
"volume": "",
"issue": "",
"pages": "4715--4720",
"publisher": "IEEE",
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"abstract": "This paper focuses on the use of reset control as an alternative way of obtaining dissipation for a class of port-Hamiltonian systems. One advantage of this approach is the simplicity of its implementation, since it requires only a velocity observer. Another advantage is its robustness, as it can be calculated independently of the plant structure. A gantry crane is selected as case study, yielding simulation and experimental results that show the good performance of this method.",
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"citation": "fernández, Reset control for passive teleoperation. Proc IEEE Ind Electron Conference (IECON) (2008)"
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{
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"citation": "zheng, Improved reset control design for a PZT positioning stage. 16th Int Conf on Control Applications (2007)"
},
{
"identifiers": {},
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},
{
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"citation": "guo, Stability analysis, design and application of reset control. 2007 Int Conf on Control and Automation (2007)"
},
{
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"citation": "neši?, Stability properties of reset systems. Proc of 16th IFAC World Congress (2005)"
},
{
"identifiers": {},
"citation": "carrasco, A passivity approach to reset control on nonlinear systems. Proc IEEE Ind Electron Conference (IECON) (2008)"
},
{
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"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
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"doi": "10.1002/(sici)1099-1239(19980415/30)8:4/5<435::aid-rnc355>3.0.co;2-4"
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"citation": "ortega, Energy-Shaping of Port-Controlled Hamiltonian Systems by Inter-connection. Proc of the 38th Conference on Decision & Control (1999)"
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{
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"doi": "10.1109/tac.2003.812778"
},
"citation": "Aghannan, N. & Rouchon, P. An intrinsic observer for a class of lagrangian systems. IEEE Trans. Automat. Contr. 48, 936–945 (2003)"
},
{
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"citation": "aangenent, An LMI-based £2 gain performance analysis for reset control systems. American Control Conference ACC (2008)"
},
{
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"citation": "haddad, Impulsive and Hybrid Dynamical Systems - Stability, Dissipativity and Control. Princeton Series in Applied Mathematics (2006)"
},
{
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"doi": "10.1016/s0005-1098(03)00113-4"
},
"citation": "Haddad, W. M., Nersesov, S. G. & Chellaboina, V. Energy-based control for hybrid port-controlled Hamiltonian systems. Automatica 39, 1425–1435 (2003)"
},
{
"identifiers": {},
"citation": "nersesov, Nonlinear Impulsive and Hybrid Dynamical Systems. (2005)"
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{
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"doi": "10.1080/00207177408932666"
},
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"doi": "10.1016/j.automatica.2004.01.004"
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"citation": "Beker, O., Hollot, C. V., Chait, Y. & Han, H. Fundamental properties of reset control systems. Automatica 40, 905–915 (2004)"
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"citation": "beker, Analysis of Reset Control Systems (2001)"
},
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"doi": "10.1177/107754630000600104"
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"citation": "Bupp, R. T., Bernstein, D. S., Chellaboina, V. S. & Haddad, W. M. Resetting Virtual Absorbers for Vibration Control. Journal of Vibration and Control 6, 61–83 (2000)"
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"doi": "10.1109/tac.2008.2007865"
},
"citation": "Banos, A. & Barreiro, A. Delay-Independent Stability of Reset Systems. IEEE Trans. Automat. Contr. 54, 341–346 (2009)"
},
{
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},
"citation": "Åström, K. J. Limitations on Control System Performance. European Journal of Control 6, 2–20 (2000)"
},
{
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"citation": "baños, Reset-times dependent stability of reset control with unstable base systems. Proc IEEE Int Symp on Ind Electron (ISIE) (2007)"
},
{
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"citation": "baños, Delay-dependent stability of reset control systems. Proceedings of the American control conference ACC (2007)"
}
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"doi": "10.23919/ecc.2013.6669137"
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"title": "Analysis and comparison of port-Hamiltonian formulations for field theories - demonstrated by means of the Mindlin plate",
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"abstract": "This paper focuses on the port-Hamiltonian formulation of systems described by partial differential equations. Based on a variational principle we derive the equations of motion as well as the boundary conditions in the well-known Lagrangian framework. Then it is of interest to reformulate the equations of motion in a port-Hamiltonian setting, where we compare the approach based on Stokes-Dirac structures to a Hamiltonian setting that makes use of the involved bundle structure similar to the one on which the variational approach is based. We will use the Mindlin plate, a distributed parameter system with spatial domain of dimension two, as a running example.",
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"container_title": "2013 European Control Conference (ECC)",
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"issue": "",
"pages": "2098--2103",
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"title": "A bondgraph approach to formation control using relative state measurements",
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"given": "Geoff",
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"abstract": "In this paper we apply port-Hamiltonian theory with the bondgraph modelling approach to the problem of formation control using partial measurements of relative positions. We present a control design that drives a group of vehicles to a desired formation without requiring inter-vehicle communications or global position and velocity measurements to be available. Our generic approach is applicable to any form of relative measurement between vehicles, but we specifically consider the important cases of relative bearings and relative distances. In the case of bearings, our theory closely relates to the field of image-based visual servo (IBVS) control. We present simulation results to support the developed theory.",
"container_title": "2013 European Control Conference (ECC)",
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"issue": "",
"pages": "1262--1267",
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"abstract": "Boundary controlled-port Hamiltonian systems have proven to be of great use for the analysis and control of a large class of systems described by partial differential equations. The use of semi-group theory, combined with the underlying physics of Hamiltonian systems permits to prove existence, well-possessedness and stability of solutions using constructive techniques. On other hand, the differential geometric representation of these systems has lead to finite dimension approximation methods that conserves physical properties such as the interconnection structure and the energy. These results are applied to the modelling and control of a class of nanotweezers used for DNA-manipulation. The Nanotweezer may be modelled as a flexible beam interconnected with a finite dimensional dynamical system representing the manipulated object. A boundary controlled-port Hamiltonian model for the ensemble and an exponentially stabilizing controller are proposed. A geometric approximation scheme is used to reduce the infinite dimensional system and numerical simulations of the closed-loop system presented.",
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"pages": "566--571",
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"abstract": "A novel formulation for the description of implicit port-Hamiltonian control systems is proposed and its potential use for the design of the control laws stabilizing a given submanifold described as a zero level set of an admissible energy function is shown. Using the developed formulation, a number of results on the stabilization of port-Hamiltonian systems are presented. The obtained results are formulated in a way that allows for direct application.",
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{
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{
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{
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{
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"title": "Sufficient stability condition for delayed port-Hamiltonian systems subject to input saturation",
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"abstract": "This work deals with a class of delayed port Hamiltonian systems with control law given as a bounded output feedback. A sufficient stability condition of the resulting closed-loop dynamics is obtained combining Wirtingerbased integral inequality and Lyapunov-Krasovkii theorem. This condition is formulated in terms of (parametrized) linear matrix inequality. A numerical example shows reduction of the conservatism regarding literature result.",
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{
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{
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"citation": "Wei, A. & Wang, Y. Stabilization and H∞ control of nonlinear port-controlled Hamiltonian systems subject to actuator saturation. Automatica 46, 2008–2013 (2010)"
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{
"identifiers": {
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{
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"given": "Filippo",
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"abstract": "In this paper, we show the equivalence between a constrained, multi-agent control problem, modeled within the port-Hamiltonian framework, and an exact potential game. Specifically, critical distance-based constraints determine a network of double-integrator agents, which can be represented as a graph. Virtual couplings, i.e., pairs of spring-damper, assigned to each edge of the graph, allow to synthesize a distributed, gradient-based control law that steers the network to an invariant set of stable configurations. We characterize the points belonging to such set as Nash equilibria of the associated potential game, relating the parameters of the virtual couplings with the equilibrium seeking problem, since they are crucial to shape the transient behavior (i.e., the convergence) and, ideally, the set of achievable equilibria.",
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"doi": "10.1561/2600000002"
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"doi": "10.1109/cdc.2017.8264339"
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"title": "Selective excitation of identical conservative port-Hamiltonian systems by a single control",
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"given": "Dmitry",
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"given": "Alexander L.",
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"given": "Mikhail S.",
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"abstract": "A generalization of the results obtained earlier in M. S. Ananyevskiy, A. L. Fradkov, and H. Nijmeijer; Control of mechanical systems with constraints: two pendulums case study, IFAC Proceedings Volumes, vol. 41, no. 2, pp. 7690–7694, 2008. is presented. Three control problems for complex systems consisting of port-Hamiltonian subsystems are formulated. In particular, the problem of exciting a number of identical port-Hamiltonian systems to given (not necessarily equal) energy levels while ensuring strict bounds on the energy levels of remaining systems is studied. Solvability conditions based on speed-gradient control are established. The obtained results are illustrated by numerical simulations.",
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{
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"title": "IDA-PBC for Underactuated Mechanical Systems in Implicit Port-Hamiltonian Representation",
"authors": [
{
"given": "Oscar B.",
"family": "Cieza",
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"abstract": "Partial differential equations (PDEs) persist to be a stumbling block in Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC). Lately, for a class of mechanical systems an energy shaping controller has been investigated that avoids PDEs by exploiting implicit port-Hamiltonian representations. Following the same research line, in this paper we generalize the total energy shaping IDA-PBC for underactuated mechanical systems in the implicit framework and propose an algebraic solution for a class of systems. Besides, under some additional conditions we are also able to produce a respective output feedback. A reduction of the closed loop system in explicit coordinates is presented. We test our results on the inclined cart-pole system and portal crane.",
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{
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{
"identifiers": {},
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{
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"doi": "10.1016/j.automatica.2018.06.040"
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"title": "Topological geometric extension of Stokes-Dirac structures for global energy flows",
"authors": [
{
"given": "Gou",
"family": "Nishida",
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"abstract": "This paper proposes an extended Stokes-Dirac structure for describing a global structure of port-Hamiltonian systems defined on manifolds with non-trivial topology under consistent boundary conditions. For the aim, the relationship between the Stokes-Dirac structure and the topological geometry of the manifolds is clarified in terms of harmonic differential forms.",
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"doi": "10.1090/mmono/201"
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"doi": "10.3182/20070822-3-za-2920.00079"
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"doi": "10.1007/978-1-4471-0507-7"
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"type": "proceedings-article",
"title": "Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach",
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"abstract": "In this work we propose a virtual contraction-based control (v-CBC) design approach to the tracking problem in marine craft modeled as port-Hamiltonian (pH) systems. The design method consists of three main steps: i) construct a virtual control system which has all the original marine craft pH model's solutions embedded; ii) design a control law that makes the virtual control system contracting with a desired steady-state trajectory; iii) close the loop of the original marine craft pH model with above controllers. Due to the rigid body nature of marine craft, two v-CBC schemes are proposed; one in a body frame and another in an inertial frame. We show how the intrinsic structure of pH models and their workless forces can be exploited to construct virtual control systems for marine craft in both frames. The closed-loop system's performance is evaluated on simulations.",
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{
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{
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"doi": "10.23919/ecc54610.2021.9654840"
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"type": "proceedings-article",
"title": "Observability for port-Hamiltonian systems",
"authors": [
{
"given": "Birgit",
"family": "Jacob",
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"abstract": "The class of port-Hamiltonian systems incorporates many physical models, such as mechanical systems in the finite-dimensional case and wave and beam equations in the infinite-dimensional case. In this paper we study a subclass of linear first order port-Hamiltonian systems. In [3], it is shown that these systems are exactly observable when the energy is not dissipated internally and when sufficient observations are made at the boundary. In this article we study the observability properties for these systems when internal dissipation of energy is possible. We cannot show the exact observability, but we do show that the Hautus test is satisfied. In general, the Hautus test is weaker than exact observability, but stronger than approximate observability. Hence we conclude that these systems are approximately observable.",
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"pages": "2052--2057",
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"references": [
{
"identifiers": {
"doi": "10.1137/080724733"
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"citation": "Jacob, B. & Zwart, H. On the Hautus Test for Exponentially Stable $C_0$-Groups. SIAM J. Control Optim. 48, 1275–1288 (2009)"
},
{
"identifiers": {},
"citation": "jacob, Linear Port-Hamiltonian Systems on Infinite-dimensional Spaces vol 223 of Operator Theory Advances and Applications (2012)"
},
{
"identifiers": {
"doi": "10.1002/gamm.201800010"
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"citation": "Jacob, B. & Zwart, H. An operator theoretic approach to infinite‐dimensional control systems. GAMM-Mitteilungen 41, (2018)"
},
{
"identifiers": {
"doi": "10.1137/040611677"
},
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},
{
"identifiers": {
"doi": "10.1137/s036301299119795x"
},
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},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
"identifiers": {
"doi": "10.1080/002071797224162"
},
"citation": "Zhou, Q. & Yamamoto, M. Hautus condition on the exact controllability of conservative systems. International Journal of Control 67, 371–379 (1997)"
},
{
"identifiers": {
"doi": "10.1007/978-3-0348-7881-4_10"
},
"citation": "Jacob, B. & Partington, J. R. Admissibility of Control and Observation Operators for Semigroups: A Survey. Current Trends in Operator Theory and its Applications 199–221 (2004) doi:10.1007/978-3-0348-7881-4_10"
},
{
"identifiers": {
"doi": "10.1109/lcsys.2019.2916814"
},
"citation": "Jacob, B. & Kaiser, J. T. On Exact Controllability of Infinite-Dimensional Linear Port-Hamiltonian Systems. IEEE Control Syst. Lett. 3, 661–666 (2019)"
},
{
"identifiers": {
"doi": "10.1016/s0167-6911(00)00117-1"
},
"citation": "Jacob, B. & Zwart, H. Exact observability of diagonal systems with a finite-dimensional output operator. Systems & Control Letters 43, 101–109 (2001)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2006.10.006"
},
"citation": "Jacob, B. & Schnaubelt, R. Observability of polynomially stable systems. Systems & Control Letters 56, 277–284 (2007)"
},
{
"identifiers": {},
"citation": "jacob, Unsolved Problems in Mathematical Systems and Control Theory (2004)"
},
{
"identifiers": {},
"citation": "jacob, Exact observability of diagonal systems with a one-dimensional output operator. Int J Appl Math Comput Sci (2001)"
},
{
"identifiers": {
"doi": "10.1007/bf01308629"
},
"citation": "Grabowski, P. & Callier, F. M. Admissible observation operators. Semigroup criteria of admissibility. Integr equ oper theory 25, 182–198 (1996)"
},
{
"identifiers": {},
"citation": "curtain, (2020)"
},
{
"identifiers": {
"doi": "10.1137/s0363012903423235"
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"citation": "Jacob, B. & Zwart, H. Counterexamples Concerning Observation Operators for C0 -Semigroups. SIAM J. Control Optim. 43, 137–153 (2004)"
}
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"id": "556b70d7-1235-5f0a-8e75-ad6a6dcca4a8",
"identifiers": {
"doi": "10.23919/ecc54610.2021.9654842"
},
"type": "proceedings-article",
"title": "An energy-based modeling approach to the induction machine",
"authors": [
{
"given": "Luis Miguel",
"family": "Esquivel-Sancho",
"literal": null,
"source_fields": {
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"affiliation": []
}
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{
"given": "Roberto",
"family": "Pereira-Arroyo",
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{
"given": "Mauricio",
"family": "Munoz-Arias",
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"abstract": "The induction machine is used in a wide variety of applications as a means of converting electrical energy into mechanical work and vice versa. There is an increasing use of the machine configured as a generator in unconventional wind and micro-hydro energy systems. The advantages of the system range from low cost to simplicity of construction, operation, and maintenance. This work provides a generalization to the port-Hamiltonian model of a squirrel-cage induction motor based on a synchronously rotating reference frame of d-q axes. Furthermore, the port-Hamiltonian formalism is used to provide a modeling approach to a self-excited induction generator which is also deduced for the d-q stationary reference frame. The performance our modeling approach is validated via numerical simulations.",
"container_title": "2021 European Control Conference (ECC)",
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"volume": "",
"issue": "",
"pages": "2543--2548",
"publisher": "IEEE",
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"created_date": "2022-01-03",
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"references": [
{
"identifiers": {
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},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {},
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},
{
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},
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},
{
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},
{
"identifiers": {},
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{
"identifiers": {},
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},
{
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{
"identifiers": {
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{
"identifiers": {
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},
{
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},
{
"identifiers": {
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{
"identifiers": {
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{
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{
"identifiers": {
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},
{
"identifiers": {
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},
"citation": "Maschke, B. M. & van der Schaft, A. J. Port-Controlled Hamiltonian Systems: Modelling Origins and Systemtheoretic Properties. IFAC Proceedings Volumes 25, 359–365 (1992)"
}
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{
"id": "0ecb8f92-76c0-5cbf-948a-2ff721f06296",
"identifiers": {
"doi": "10.23919/ecc54610.2021.9655109"
},
"type": "proceedings-article",
"title": "Surrogate-Based ℋ2 Model Reduction of Port-Hamiltonian Systems",
"authors": [
{
"given": "Tim",
"family": "Moser",
"literal": null,
"source_fields": {
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}
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{
"given": "Julius",
"family": "Durmann",
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"given": "Boris",
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"abstract": "Interpolatory methods for structure-preserving model reduction of port-Hamiltonian systems are especially suitable for very large-scale models, owing to their low computational cost and memory requirements. ${{\\mathcal{H}}_2}$-based techniques iteratively search for models which fulfill a subset of first-order ${{\\mathcal{H}}_2}$-optimality conditions. In each iteration, a new reduced-order model is computed, which might weaken the computational advantages in cases of slow convergence. We propose a new structure-preserving framework for port-Hamiltonian systems based on surrogate modeling. By exploiting the local nature of the ${{\\mathcal{H}}_2}$-optimization problem, the cost of optimization is decoupled from the cost of reduction. Consequently, ${{\\mathcal{H}}_2}$-based interpolatory methods can be accelerated significantly and especially for very large-scale port-Hamiltonian systems, which is illustrated by a numerical example.",
"container_title": "2021 European Control Conference (ECC)",
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"volume": "",
"issue": "",
"pages": "2058--2065",
"publisher": "IEEE",
"event": "",
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"created_date": "2022-01-03",
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"references": [
{
"identifiers": {
"doi": "10.1109/ecc.2016.7810578"
},
"citation": "Castagnotto, A., Panzer, H. K. F. & Lohmann, B. Fast H<inf>2</inf>-optimal model order reduction exploiting the local nature of Krylov-subspace methods. 2016 European Control Conference (ECC) 1958–1969 (2016) doi:10.1109/ecc.2016.7810578"
},
{
"identifiers": {
"doi": "10.1080/13873954.2018.1464030"
},
"citation": "Castagnotto, A. & Lohmann, B. A new framework for H2-optimal model reduction. Mathematical and Computer Modelling of Dynamical Systems 24, 236–257 (2018)"
},
{
"identifiers": {
"doi": "10.1137/1.9781611976083"
},
"citation": "Antoulas, A. C., Beattie, C. A. & Güğercin, S. Interpolatory Methods for Model Reduction. (Society for Industrial and Applied Mathematics, 2020). doi:10.1137/1.9781611976083"
},
{
"identifiers": {
"doi": "10.1016/s0024-3795(87)90314-4"
},
"citation": "Chu, K. E. The solution of the matrix equations AXB−CXD=E AND (YA−DZ,YC−BZ)=(E,F). Linear Algebra and its Applications 93, 93–105 (1987)"
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"given": "Alex S.",
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"given": "Carmen",
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"abstract": "In this paper, we prove the exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework. To this end, we propose a Lyapunov candidate function different from the Hamiltonian of the system. Moreover, we study how the proposed analysis can be used to determine the exponential stability and the rate of convergence of some (nonlinear)-mechanical systems stabilized by a passivity-based control technique, namely, PID passivity-based control. We implement such a control approach to stabilize a three-degree-of-freedom robotic arm at the desired equilibrium point to illustrate the mentioned analysis.",
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{
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"doi": "10.23919/ecc55457.2022.9838067"
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"type": "proceedings-article",
"title": "Hamiltonian representation of generalized ribosome flow models",
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{
"given": "Mihaly A.",
"family": "Vaghy",
"literal": null,
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"sequence": "first",
"affiliation": [
{
"name": "Pázmany Péter Catholic University,Faculty of Information Technology and Bionics,Budapest,Hungary,H-1444"
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}
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{
"given": "Gabor",
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"name": "Pázmany Péter Catholic University,Faculty of Information Technology and Bionics,Budapest,Hungary,H-1444"
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"abstract": "In this paper we study a class of compartmental models with bounded capacities, called generalized ribosome flow models and show that they are formally kinetic, i.e. we can assign a chemical reaction network (CRN) to the system based on the compartmental structure which realizes the nonlinear dynamics. We decompose the model into two dual subsystems both having positive linear first integrals representing conservation. Based on the dynamics of the reaction network we construct a port-Hamiltonian representation of the system in the original and also in the reduced state spaces with clear connection between the structure matrices and the compartmental graph topology. We finally demonstrate that the system is non-expansive in the -norm both in the original and in the reduced state spaces. The generality of our approach ensures that the results are valid for a wide class of reaction rate functions used in the CRN representation.",
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"issue": "",
"pages": "657--662",
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},
{
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{
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{
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{
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"title": "Fault-tolerant formation control of wheeled mobile robots using energy-balancing methods",
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"given": "Ilaria",
"family": "Paglianti",
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"affiliation": [
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"name": "Sapienza University of Rome,Department of Computer, Control and Management Engineering,Italy"
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"name": "Sapienza University of Rome,Department of Computer, Control and Management Engineering,Italy"
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"abstract": "The problem of fault-tolerant formation control for a team of wheeled robots is addressed. The multi-agent network is represented as the passive interconnection of port-Hamiltonian systems, and trajectory-tracking is achieved by using passivity arguments. Two fault-tolerant control strategies have been proposed, depending on the fault severity: a soft one, consisting in lowering the control burden, and a hard one, corresponding to formation reconfiguration.",
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{
"identifiers": {},
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},
{
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},
{
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{
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{
"identifiers": {
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},
{
"identifiers": {
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
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},
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{
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{
"id": "43f4121e-5c2d-595b-a70b-2c7010365cc9",
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"doi": "10.23919/ecc55457.2022.9838171"
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"type": "proceedings-article",
"title": "A passivity approach in port-Hamiltonian form for formation control and velocity tracking",
"authors": [
{
"given": "Ningbo",
"family": "Li",
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"sequence": "first",
"affiliation": [
{
"name": "University of Groningen,Faculty of Science and Engineering,Groningen,AG,The Netherlands,9747"
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{
"given": "Jacquelien",
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"affiliation": [
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"name": "University of Groningen,Faculty of Science and Engineering,Groningen,AG,The Netherlands,9747"
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"given": "Arjan",
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"name": "Bernoulli Institute for Mathematics, Computer Science and AI, University of Groningen,Groningen,AK,The Netherlands,9700"
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{
"given": "Zhiyong",
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"affiliation": [
{
"name": "Eindhoven University of Technology,Department of Electrical Engineering,MB,Eindhoven,5600"
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"abstract": "This paper proposes a passivity approach in port-Hamiltonian (pH) form for multi-agent formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the velocity and the external feedback is to achieve formation stabilization. Since the dynamics of the controller are associated with the edges, the stability analysis is related to the kernel of the incidence matrix $B$ of the underlying graph. For displacement-based formations, the approach is applicable not only to acyclic graphs, but also to cyclic graphs, in which case the columns of $B$ are not linearly independent. For rigid formations, the passivity approach for distance and bearing formation is proposed. In addition, the relationship between infinitesimal rigidity and convergence of the desired formation is established. The proposed approach is verified by numerical simulations.",
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{
"identifiers": {
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{
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},
{
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},
{
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{
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{
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{
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{
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{
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{
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{
"identifiers": {
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{
"identifiers": {
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{
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{
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{
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},
{
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{
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}
]
},
{
"id": "328efbd3-8c5d-5884-aae0-c353a23f8d24",
"identifiers": {
"doi": "10.23919/ecc55457.2022.9838430"
},
"type": "proceedings-article",
"title": "Robust energy shaping for mechanical systems with dissipative forces and disturbances",
"authors": [
{
"given": "Ainoor",
"family": "Teimoorzadeh",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Sahand University of Technology,Department of Electrical Engineering,Tabriz,Iran"
}
]
}
},
{
"given": "Alejandro",
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"affiliation": [
{
"name": "School of Engineering, The University of Newcastle, University Drive,Callaghan,NSW,Australia,2308"
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{
"given": "Pierluigi",
"family": "Arpenti",
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"name": "University of Naples,PRISMA Lab,Department of Electrical Engineering and Information Technology,Naples,Italy,80125"
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}
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{
"given": "Fabio",
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"affiliation": [
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"name": "University of Naples,PRISMA Lab,Department of Electrical Engineering and Information Technology,Naples,Italy,80125"
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],
"abstract": "This paper presents a novel energy shaping-based integral action for mechanical systems with unknown dissipative forces and matched disturbances. The proposed approach builds on the simultaneous interconnection and damping assignment method and takes advantage of the representation of the dissipative forces in the port-Hamiltonian dynamics. We consider dissipative forces that cannot be written in the classical dissipation structure of the port-Hamiltonian systems. We show that the proposed design ensures the stability of the equilibrium and is robust against dissipative force uncertainty, and rejects constant matched disturbances. Two case studies are presented, and simulation results show the closed-loop performance.",
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"volume": "",
"issue": "",
"pages": "1409--1414",
"publisher": "IEEE",
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"references": [
{
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},
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},
{
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},
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},
{
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},
{
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},
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},
{
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},
{
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},
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},
{
"identifiers": {
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},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
"citation": "Crasta, N., Ortega, R. & Pillai, H. K. On the matching equations of energy shaping controllers for mechanical systems. International Journal of Control 88, 1757–1765 (2015)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2016.05.006"
},
"citation": "Donaire, A., Ortega, R. & Romero, J. G. Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces. Systems & Control Letters 94, 118–126 (2016)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
"citation": "ortega, Passivity-Based Control of Mechanical Systems ser Feedback Stabilization of Controlled Dynamical Systems Lecture Notes in Electrical Engineering (2017)"
},
{
"identifiers": {
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},
"citation": "Donaire, A., Romero, J. G., Ortega, R., Siciliano, B. & Crespo, M. Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances. Int. J. Robust. Nonlinear Control 27, 1000–1016 (2016)"
}
]
},
{
"id": "9e2721e5-b105-5c7a-82d9-0beb21b55b1a",
"identifiers": {
"doi": "10.23919/ecc57647.2023.10178222"
},
"type": "proceedings-article",
"title": "Port-Hamiltonian observer for state-feedback control design",
"authors": [
{
"given": "N.M.T",
"family": "Vu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "École Polytechnique Féderale de Lausanne (EPFL),Swiss Plasma Center(SPC),Lausanne,Switzerland,CH-1015"
}
]
}
},
{
"given": "T.H.",
"family": "Pham",
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"affiliation": [
{
"name": "CNRS, Centrale Supélec,Laboratory of Signals and Systems (L2S),Gif-sur-Yvette,France,91190"
}
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}
},
{
"given": "I.",
"family": "Prodan",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Univ. Grenoble Alpes,Grenoble INP, LCIS,Valence,France,26000"
}
]
}
},
{
"given": "L.",
"family": "Lefèvre",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Univ. Grenoble Alpes,Grenoble INP, LCIS,Valence,France,26000"
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],
"abstract": "This paper extends the authors’ previous work on Control by Interconnection - Model Predictive Control (CbI - MPC) design for constrained port-Hamiltonian systems to deal with the unmeasurable system states. The first contribution resides in the CbI-oriented formulation of the augmented system, including the plant and the observer. It explicitly supplies observed states as output, which serves to freely design any state-feedback controller. Then, for the second contribution, the CbI-MPC control design is adapted to take into account this augmented PH system. Hence, a new controller input matrix is proposed with corresponding matching conditions. The proposed control method is validated through simulation results for a 3-phase Permanent Magnet Synchronous Motor with input and state constraints.",
"container_title": "2023 European Control Conference (ECC)",
"publication_year": "2023",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2023-08-01",
"permalink": "port-hamiltonian-observer-for-state-feedback-control-design",
"references": [
{
"identifiers": {
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},
{
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},
{
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},
{
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"identifiers": {
"doi": "10.23919/ecc57647.2023.10178249"
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"type": "proceedings-article",
"title": "Data-driven port-Hamiltonian structured identification for non-strictly passive systems",
"authors": [
{
"given": "Charles",
"family": "Poussot-Vassal",
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"name": "Charles and Pierre are with ONERA - The French Aerospace Lab, 2 avenue Edouard Belin,Toulouse,France,31400"
}
]
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"given": "Denis",
"family": "Matignon",
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"name": "Denis and Ghislain are with ISAE-SUPAERO, Université de Toulouse, 10, avenue Edouard Belin,Toulouse,France,31400"
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"given": "Ghilslain",
"family": "Haine",
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"name": "Denis and Ghislain are with ISAE-SUPAERO, Université de Toulouse, 10, avenue Edouard Belin,Toulouse,France,31400"
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"given": "Pierre",
"family": "Vuillemin",
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"name": "Charles and Pierre are with ONERA - The French Aerospace Lab, 2 avenue Edouard Belin,Toulouse,France,31400"
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"abstract": "In this work, we detail a procedure to construct a reduced order model on the basis of frequency-domain data, that preserves the non-strictly passive property and the port-Hamiltonian structure. The proposed scheme is based on Benner et al. contribution [1], which has been adapted (i) to handle non-strictly passive model, and (ii) to handle numerical issues observed when applying the Loewner framework on complex configurations. We validate the proposed scheme on a very complex two-dimensional wave equation, for which the discretized version preserves the port-Hamiltoninan form.",
"container_title": "2023 European Control Conference (ECC)",
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"issue": "",
"pages": "1--6",
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"permalink": "data-driven-port-hamiltonian-structured-identification-for-non-strictly-passive-systems",
"references": [
{
"identifiers": {
"doi": "10.1137/19m1259092"
},
"citation": "Mehrmann, V. & Van Dooren, P. M. Optimal Robustness of Port-Hamiltonian Systems. SIAM Journal on Matrix Analysis and Applications vol. 41 134–151 (2020)"
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{
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},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2021.11.075"
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"citation": "Cherifi, K. & Brugnoli, A. Application of data-driven realizations to port-Hamiltonian flexible structures. IFAC-PapersOnLine vol. 54 180–185 (2021)"
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{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2020.104741"
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"citation": "Benner, P., Goyal, P. & Van Dooren, P. Identification of port-Hamiltonian systems from frequency response data. Systems & Control Letters vol. 143 104741 (2020)"
},
{
"identifiers": {
"doi": "10.4236/jamp.2021.96088"
},
"citation": "Brugnoli, A., Haine, G., Serhani, A. & Vasseur, X. Numerical Approximation of Port-Hamiltonian Systems for Hyperbolic or Parabolic PDEs with Boundary Control. Journal of Applied Mathematics and Physics vol. 09 1278–1321 (2021)"
},
{
"identifiers": {
"doi": "10.4208/ijnam2023-1005"
},
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},
{
"identifiers": {
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{
"identifiers": {},
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},
{
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{
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{
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{
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}
]
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"id": "7811f56b-8507-5491-9f27-5357ea17e58c",
"identifiers": {
"doi": "10.23919/ecc57647.2023.10178307"
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"type": "proceedings-article",
"title": "Finding the Nearest Negative Imaginary System with Application to Near-Optimal Controller Design",
"authors": [
{
"given": "Mohamed A.",
"family": "Mabrok",
"literal": null,
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"affiliation": [
{
"name": "Qatar University, P.O. box 2713,Statistics and Physics, College of Arts and Sciences,Mathematics Program, Department of Mathematics,Doha,Qatar"
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"abstract": "In this paper, we consider the problem of robust stabilization of linear time-invariant systems with respect to unmodeled dynamics and structure uncertainties. To that end, we first present a methodology to find the nearest negative imaginary system for a given non-negative imaginary system. Then, we employ this result to construct a near optimal linear quadratic Gaussian controller achieving desired performance measures. The problem is formulated using port-Hamiltonian method and the required conditions are defined in terms of linear matrix inequalities. The technique is presented using fast gradient method to solve the problem systematically. The designed controller satisfies a negative imaginary property and guarantees a robust feedback loop. The effectiveness of the approach is demonstrated by simulation on a numerical example.",
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"pages": "1--6",
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{
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{
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{
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},
{
"id": "e2d2f4fc-b530-5a37-8dc0-832eb36e37be",
"identifiers": {
"doi": "10.23919/ecc57647.2023.10178328"
},
"type": "proceedings-article",
"title": "Resilient Angle Stabilization in Converter-Interfaced Microgrids",
"authors": [
{
"given": "Mahmood",
"family": "Jamali",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "University of Sheffield,Department of Automatic Control and Systems Engineering,Sheffield,United Kingdom,S1 3JD"
}
]
}
},
{
"given": "Mahdieh S.",
"family": "Sadabadi",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Queen Mary University of London,School of Electronic Engineering and Computer Science,London,United Kingdom"
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],
"abstract": "This paper focuses on the problem of resilient phase angle stabilization and frequency synchronization in converter-based microgrids, utilizing phasor measurement units (PMUs), in the presence of false data injection (FDI) cyberattacks. The uniformly bounded cyber-attack signals are inserted to desynchronize converters and violate frequency constraints by manipulating control input channels. To tackle this issue, a resilient and robust cooperative angular control scheme is proposed by modifying the conventional angular control method and incorporating some auxiliary states interconnecting with physical states. By presenting the converter dynamics along with the proposed controller as a port-Hamiltonian (pH) system, the design considerations of the interconnection matrices are outlined. Theoretical analysis using input-output passivity and $H_{\\infty}$ norm performance index are carried out to guarantee asymptotic stability and resilient frequency synchronization against FDI attacks. The performance and effectiveness of the proposed control scheme are evaluated through numerical simulations",
"container_title": "2023 European Control Conference (ECC)",
"publication_year": "2023",
"volume": "",
"issue": "",
"pages": "1--6",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2023-08-01",
"permalink": "resilient-angle-stabilization-in-converter-interfaced-microgrids",
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"abstract": "In this work, we present the standard Singular Perturbations technique applied to Implicit port-Hamiltonian systems. The investigation produces a structure-preserving reduced-order model if certain additional passivity conditions are satisfied. Moreover, such an investigation provides a different insight into the standard Singular Perturbations approach relating the negligible time constant parameters $\\varepsilon$ to energy parameters. We analyze the deviation between the complete system model and the reduced one via a Lyapunov-based approach. We then conclude the paper by applying the proposed reduced order model to a DC-motor example to show the effectiveness of the development.",
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"title": "Cyber-Attack Resilient DC Microgrids Under Distributed Control: An Energy Perspective",
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"given": "Cornelia",
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"name": "Norwegian University of Science and Technology,Department of Electric Energy,Trondheim,Norway,7011"
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"abstract": "In this paper, we adopt an energy perspective to analyze the stability of converter-dominated dc grids under a hierarchical (primary/secondary) optimal control strategy based on distributed communications, and its robustness against cyber-threats. First, we begin by showing that both the decentralized droop-controlled de microgrid, as well as the distributed secondary controller, admit a port-Hamiltonian description. Second, we exploit the fact that the closed-loop system can be interpreted as a lossy-interconection between their (incremental) models to prove stability for the unperturbed system. Third, we analyze the effect of malicious attacks on the (linear) system and robustify the control system such that resilience against cyber threats always is ensured at steady state. Additionally, we show that by adequately tuning the controllers we are able to significantly reduce the attack influence on the desired steady state. Finally, we use time-domain simulations to support our findings in a case study involving a low-voltage DC microgrid.",
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"citation": "Abdolmaleki, B., Simpson-Porco, J. W. & Bergna-Diaz, G. Distributed Optimization for Reactive Power Sharing and Stability of Inverter-Based Resources Under Voltage Limits. IEEE Transactions on Smart Grid vol. 15 1289–1303 (2024)"
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"citation": "Modeling and stability issues of voltage-source converter dominated power systems: A review. CSEE Journal of Power and Energy Systems (2020) doi:10.17775/cseejpes.2020.03590"
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"doi": "10.1109/access.2022.3183209"
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"citation": "Abdolmaleki, B. & Bergna-Diaz, G. Distributed Control and Optimization of DC Microgrids: A Port-Hamiltonian Approach. IEEE Access vol. 10 64222–64233 (2022)"
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"doi": "10.23919/ecc54610.2021.9654990"
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"citation": "Sadabadi, M. S. & Gusrialdi, A. On Resilient Design of Cooperative Systems in Presence of Cyber-Attacks. 2021 European Control Conference (ECC) 946–951 (2021) doi:10.23919/ecc54610.2021.9654990"
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"doi": "10.1109/tpel.2020.2995584"
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{
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"doi": "10.1109/tpel.2019.2957071"
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{
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{
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"doi": "10.1049/pbpo196e_ch11"
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"citation": "Sadabadi, M. S., Sahoo, S. & Blaabjerg, F. Resilient distributed control strategies in microgrids against cyber attacks. Cyber Security for Microgrids 227–245 (2022) doi:10.1049/pbpo196e_ch11"
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"identifiers": {
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"doi": "10.1109/tpel.2021.3053845"
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"citation": "Cecilia, A., Sahoo, S., Dragicevic, T., Costa-Castello, R. & Blaabjerg, F. Detection and Mitigation of False Data in Cooperative DC Microgrids With Unknown Constant Power Loads. IEEE Transactions on Power Electronics vol. 36 9565–9577 (2021)"
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"identifiers": {
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"citation": "Gallo, A. J., Turan, M. S., Boem, F., Parisini, T. & Ferrari-Trecate, G. A Distributed Cyber-Attack Detection Scheme With Application to DC Microgrids. IEEE Transactions on Automatic Control vol. 65 3800–3815 (2020)"
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"doi": "10.1109/tpel.2021.3104721"
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"citation": "Sadabadi, M. S., Sahoo, S. & Blaabjerg, F. Stability Oriented Design of Cyber Attack Resilient Controllers for Cooperative DC Microgrids. IEEE Transactions on Power Electronics 1–1 (2021) doi:10.1109/tpel.2021.3104721"
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"title": "A port-Hamiltonian formulation of mechanical systems with switching contact constraints",
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"given": "Thomas",
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{
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{
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"doi": "10.23919/epe23ecceeurope58414.2023.10264505"
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"type": "proceedings-article",
"title": "A Port-Hamiltonian Droop Control for Grid-Forming Inverters",
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{
"given": "Alejandro",
"family": "Garcés-Ruíz",
"literal": null,
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"name": "Universidad Tecnológica de Pereira,Department of Electric Power Engineering,Pereira,Colombia,660003"
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"name": "Universidad Tecnológica de Pereira,Department of Electric Power Engineering,Pereira,Colombia,660003"
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{
"given": "Pedro",
"family": "Rodriguez",
"literal": null,
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"name": "Universitat Politècnica de Catalunya (UPC),Luxembourg Institute of Science and Technology (LIST)"
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"abstract": "Modern power systems include inverter-based resources that may reduce equivalent inertia, resulting in instability issues. A common way to add inertia is by increasing the energy storage capacity in each inverter. Although viable, this option may be expensive in practice. This article proposes a new approach to improve stability in grid-forming inverters. The conventional droop of frequency/power is equipped with additional angle feedback based on the port-Hamiltonian structure of the dynamic system. Phasor-measurement units allow this type of control. The control proofs to be asymptotically stable for a single-inverter infinite bus system. Simulation results under different fault conditions demonstrate a superior performance of the proposed control compared to a conventional droop.",
"container_title": "2023 25th European Conference on Power Electronics and Applications (EPE'23 ECCE Europe)",
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"issue": "",
"pages": "1--6",
"publisher": "IEEE",
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"references": [
{
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{
"identifiers": {
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{
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{
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},
{
"id": "12e89dac-0469-57cd-b927-d973a0f9033a",
"identifiers": {
"doi": "10.23919/icems.2018.8549525"
},
"type": "proceedings-article",
"title": "Energy-Shaping Control Strategy of the Improved Y-Source Inverter",
"authors": [
{
"given": "Yan",
"family": "Ran",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Yanjie",
"family": "Wang",
"literal": null,
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}
},
{
"given": "Wei",
"family": "Wang",
"literal": null,
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}
},
{
"given": "Hongpeng",
"family": "Liu",
"literal": null,
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}
}
],
"abstract": "This paper proposes a new method using port controlled hamiltonian (PCH) model and energy shaping control method to study control issues of PV grid-connected improved Y-source inverter. State averaging method is adopted to transform the nonlinear system of the improved Y-source grid-connected inverter into a hamiltonian model. According to the control objectives of the system, equilibrium points of the system are determined, then the system controller is designed using interconnection and damping assignment method. Finally, a 200W laboratory prototype is built based on a TMS320F2812 digital signal processor to verify the performance of the control method.",
"container_title": "2018 21st International Conference on Electrical Machines and Systems (ICEMS)",
"publication_year": "2018",
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"issue": "",
"pages": "1082--1087",
"publisher": "IEEE",
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tpel.2011.2157362"
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1109/tpel.2013.2243755"
},
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},
{
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{
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{
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},
{
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{
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},
{
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}
]
},
{
"id": "5f241bf6-9855-5f84-a97c-59b3ecd72595",
"identifiers": {
"doi": "10.23919/ipec.2018.8507616"
},
"type": "proceedings-article",
"title": "Based on PCHD and HPSO sliding mode control of D-PMSG wind power system",
"authors": [
{
"given": "Lijun",
"family": "Hou",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Xuemei",
"family": "Zheng",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Chao",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Yangman",
"family": "Li",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Haoyu",
"family": "Li",
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}
],
"abstract": "In order to simplify the model of Direct-drive Permanent Magnet Synchronous Generator (D-PMSG) wind power system and improve the robustness, the variable Speed Constant Frequency (VSCF) D-PMSG wind power system is studied from the perspective of energy and robustness. Firstly, the Port Control Dissipative Hamiltonian (PCHD) model is established for D-PMSG, which simplifies the design of controller. Then, a global High-order Non-singular Terminal Sliding Mode (HNTSM) controller is designed to realize the Maximum Power Point Tracking (MPPT) below the rated wind speed, and it has much faster response speed and better robustness compared with PI controller. However, in the parameters design of PCHD controller, there is no specific selection criterion, so it is difficult for the parameters selected by experience to achieve the ideal effect. Therefore, the hybrid particle swarm optimization algorithm (HPSO) is used to optimize the parameters of PCHD controller, so that the control effect is faster and more accurate. Simulations validate the proposed control.",
"container_title": "2018 International Power Electronics Conference (IPEC-Niigata 2018 -ECCE Asia)",
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"volume": "",
"issue": "",
"pages": "2901--2906",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2018-11-16",
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"references": [
{
"identifiers": {
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{
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{
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{
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]
},
{
"id": "64d924ce-d4de-59f4-82e9-576a27ad8574",
"identifiers": {
"doi": "10.23919/sice.2017.8105722"
},
"type": "proceedings-article",
"title": "Considerations on design parameters for attitude control of spacecraft using port-controlled Hamiltonian systems",
"authors": [
{
"given": "Tomoya",
"family": "Sakamoto",
"literal": null,
"source_fields": {
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"affiliation": []
}
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{
"given": "Yuki",
"family": "Akiyama",
"literal": null,
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"affiliation": []
}
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{
"given": "Mai",
"family": "Bando",
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{
"given": "Shinji",
"family": "Hokamoto",
"literal": null,
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"affiliation": []
}
}
],
"abstract": "In previous research, a controller design procedure via generalized canonical transformations has been proposed to keep the passivity feature of Port-controlled Hamiltonian systems. The procedure has a general form and is applicable to spacecraft's attitude motion described with quaternion parameters. This paper investigates the roles of several design parameters in the generalized canonical transformations. Special attention is placed on the relation between the shape of Lyapunov functions and the convergence speed of the state variables. Furthermore, from the analysis utilizing the linearized form of the Port-controlled Hamiltonian system, the guideline to decide the preferable ratio between two parameters in the design procedure is proposed.",
"container_title": "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)",
"publication_year": "2017",
"volume": "",
"issue": "",
"pages": "464--469",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2017-11-28",
"permalink": "considerations-on-design-parameters-for-attitude-control-of-spacecraft-using-port-controlled-hamiltonian-systems",
"references": [
{
"identifiers": {},
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.2322/tastj.14.pd_1"
},
"citation": "FUJIMOTO, K., TAKEUCHI, T. & MATSUMOTO, Y. On Port-Hamiltonian Modeling and Control of Systems with Quaternions. AEROSPACE TECHNOLOGY JAPAN 14, Pd_1-Pd_6 (2016)"
},
{
"identifiers": {},
"citation": "matsumoto, Study of obstacle avoidance problem for spacecrafts represented by port-Hamiltonian systems (in Japanese). Proceedings of the 59th Space Sciences and Technology Conference (2015)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
{
"identifiers": {},
"citation": "hassan, Nonlinear Systems Third Edition (2002)"
},
{
"identifiers": {
"doi": "10.9746/sicetr1965.37.741"
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"citation": "FUJIMOTO, K., SAKURAMA, K. & SUGIE, T. Trajectory Tracking Control of Port-Controlled Hamiltonian Systems via Generalized Canonical Transformations. T. SICE 37, 741–747 (2001)"
},
{
"identifiers": {
"doi": "10.1016/s0167-6911(00)00091-8"
},
"citation": "Fujimoto, K. & Sugie, T. Canonical transformation and stabilization of generalized Hamiltonian systems. Systems & Control Letters 42, 217–227 (2001)"
}
]
},
{
"id": "81b44eb4-a855-5bd7-a713-3b66d1302038",
"identifiers": {
"doi": "10.23919/sice56594.2022.9905855"
},
"type": "proceedings-article",
"title": "Model Estimation Ensuring Passivity by Using Port-Hamiltonian Model and Deep Learning",
"authors": [
{
"given": "Hiroyasu",
"family": "Nakano",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Nagoya University,Department of Mechanical Systems Engineering,Aichi,Japan"
}
]
}
},
{
"given": "Ryo",
"family": "Ariizumi",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Nagoya University,Department of Mechanical Systems Engineering,Aichi,Japan"
}
]
}
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{
"given": "Toru",
"family": "Asai",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Nagoya University,Department of Mechanical Systems Engineering,Aichi,Japan"
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]
}
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{
"given": "Shun-ichi",
"family": "Azuma",
"literal": null,
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"affiliation": [
{
"name": "Nagoya University,Department of Mechanical Systems Engineering,Aichi,Japan"
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],
"abstract": "An accurate model is necessary for highly accurate control, but it is not always easy to obtain the model via first principles. One of the methods for creating models is to represent the model by neural networks and train them in accordance with the data. However, the model created by machine learning cannot always satisfy the physical properties of the system. If some prior knowledge can be imposed on the estimation, it can be beneficial in the application of the obtained model and the reduction of the burden needed for the training. In this paper, we propose the new method to reflect the passivity of the system by using a port-Hamiltonian form. The effectiveness of the proposed method is shown via numerical examples.",
"container_title": "2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE)",
"publication_year": "2022",
"volume": "",
"issue": "",
"pages": "886--891",
"publisher": "IEEE",
"event": "",
"keywords": [],
"created_date": "2022-10-06",
"permalink": "model-estimation-ensuring-passivity-by-using-port-hamiltonian-model-and-deep-learning",
"references": [
{
"identifiers": {
"doi": "10.1109/iros.2012.6385797"
},
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},
{
"identifiers": {},
"citation": "zhongy, Symplectic ODE-Net: Learning Hamiltonian Dynamics with Control. International Conference on Learning Representations (2020)"
},
{
"identifiers": {
"doi": "10.1109/tac.2017.2732283"
},
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{
"identifiers": {
"doi": "10.1109/acc.2015.7170774"
},
"citation": "Aranovskiy, S., Ortega, R. & Cisneros, R. Robust PI passivity-based control of nonlinear systems: Application to port-Hamiltonian systems and temperature regulation. 2015 American Control Conference (ACC) 434–439 (2015) doi:10.1109/acc.2015.7170774"
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"citation": "van der schaft, L2-Gain and Passivity Techniques in Nonlinear Control. (1996)"
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{
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"citation": "meza, Analysis via Passivity Theory of a Class of Nonlinear PID Global Regulators for Robot Manipulators. Advances in PID Control (2011)"
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{
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"citation": "greydanus, Hamiltonian Neural Networks. 33rd Conference on Neural Information Processing Systems (2019)"
},
{
"identifiers": {
"doi": "10.1007/s10339-011-0404-1"
},
"citation": "Nguyen-Tuong, D. & Peters, J. Model learning for robot control: a survey. Cogn Process 12, 319–340 (2011)"
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"doi": "10.23967/wccm.2024.027"
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"title": "Geometric formulation of three-temperature radiation hydrodynamics",
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{
"given": "B.",
"family": "Tran",
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"given": "Yajing",
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"name": "School of Automation, Beijing Information Science & Technology University No.12 Qinghe Xiaoying East Road, Haidian District, Beijing, China"
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"name": "School of Automation, Beijing Information Science & Technology University No.12 Qinghe Xiaoying East Road, Haidian District, Beijing, China"
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"abstract": "Soft-switching technologies can effectively solve the problem of switching losses caused by increasing switching frequency of grid-connected inverters. As a branch of soft-switching technologies, load-side resonant soft-switching is a hotspot for applications of high-frequency inverters, because it has the advantage of achieving soft-switching without using additional components. However, the traditional PI control strategy based on the linear model is prone to destabilization and non-robust dynamic performance when large signal perturbation occurs. In this paper, a novel Passivity-Based Control (PBC) method is proposed to improve the dynamic performance of load-side resonant soft-switching grid-connected inverter. Besides, the model based on the Port Controlled Hamiltonian (PCH) model of the soft switching inverter is carried out, and the passivity-based controller is designed based on the established model using the way of interconnection and damping assignmentpassivity based control (IDA-PBC). Both stable performance and dynamic performance of the load-side resonant soft-switching inverter can be improved over the whole operating range. Finally, a 750 W load-side resonant soft-switching inverter simulation model is built and the output performance is compared with the traditional PI control strategy under stable and dynamic conditions. The simulation results show that the proposed control strategy reduces the harmonic distortion rate and improves the quality of the output waveforms.",
"container_title": "Archives of Electrical Engineering",
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"issue": "",
"pages": "63--75",
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"abstract": "Port-Hamiltonian system is a modeling and control methodology developed in recent decades. It is focused on energy transfer among different parts of a system and between systems. Power converters on the other hand are devices that process the electrical energy at its input to deliver energy with the required characteristic at its output. Hence, a Port-Hamiltonian model is especially attractive for control of power converters. Based on previous published results, in this paper, a Port-Hamiltonian approach is proposed for the control of DC-DC power converters. A particular characteristic of the controller here proposed is that a time variable inductor current is employed. As a result a faster and lower overshoot closed loop response is obtained for both the start-up condition and the load disturbance.",
"container_title": "Studies in Informatics and Control",
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"publisher": "ICI Bucharest",
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"given": "Martin Birkelund",
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"affiliation": [
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"name": "Technical University of Denmark, 2800 Kongens Lyngby, Denmark"
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"name": "Technical University of Denmark, 2800 Kongens Lyngby, Denmark"
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"abstract": "Electrodynamic tethers provide actuation for performing orbit correction of spacecrafts. When an electrodynamic tether system is orbiting the Earth in an inclined orbit, periodic changes in the magnetic field result in a family of unstable periodic solutions in the attitude motion. This paper shows how these periodic solutions can be stabilized by controlling only the current through the tether. A port-controlled Hamiltonian formulation is employed to describe the tethered satellite system and a passive input-output connection is used in the control design. The control law consists of two parts: a feedback connection, which stabilizes the open-loop equilibrium; and a bias term, which is able to drive the system trajectory away from this equilibrium, a feature necessary to obtain orbit adjustment capabilities of the electrodynamic tether. It is then shown how the periodic solutions of the closed-loop system can be approximated by power series, and a relation is found between control gain and perturbations around the open-loop solution. Stability properties of the system are investigated using Floquet analysis, and the region of stability is found in the plane defined by the control parameters.",
"container_title": "Journal of Guidance, Control, and Dynamics",
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"volume": "34",
"issue": "1",
"pages": "118--127",
"publisher": "American Institute of Aeronautics and Astronautics (AIAA)",
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"citation": "Kumar, K. D. Review on Dynamics and Control of Nonelectrodynamic Tethered Satellite Systems. Journal of Spacecraft and Rockets 43, 705–720 (2006)"
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{
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"citation": "Cartmell, M. P. & McKenzie, D. J. A review of space tether research. Progress in Aerospace Sciences 44, 1–21 (2008)"
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{
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},
{
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{
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{
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},
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},
{
"identifiers": {
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{
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{
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{
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},
{
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{
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{
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{
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},
{
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{
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{
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"name": "Virginia Tech, Blacksburg, Virginia 24061"
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{
"name": "Virginia Tech, Blacksburg, Virginia 24061"
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"given": "Craig A.",
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"name": "Virginia Tech, Blacksburg, Virginia 24061"
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"publisher": "American Institute of Aeronautics and Astronautics (AIAA)",
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{
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{
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{
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{
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},
{
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},
{
"identifiers": {
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{
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{
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
"citation": "Safwat, E., Weiguo, Z., Kassem, M. & Mohsen, A. Robust Nonlinear Flight Controller For Small Unmanned Aircraft Vehicle based on Incremental BackStepping. AIAA Scitech 2020 Forum (2020) doi:10.2514/6.2020-0854"
},
{
"identifiers": {
"doi": "10.2514/6.2021-0372"
},
"citation": "Safwat, E., Abozied, M. A. & Kamel, A. Design and Analysis of A Nonlinear Guidance Law for Small UAV. AIAA Scitech 2021 Forum (2021) doi:10.2514/6.2021-0372"
},
{
"identifiers": {},
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},
{
"identifiers": {
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},
"citation": "Sanders, F. C., Tischler, M., Berger, T., Berrios, M. G. & Gong, A. System Identification and Multi-Objective Longitudinal Control Law Design for a Small Fixed-Wing UAV. 2018 AIAA Atmospheric Flight Mechanics Conference (2018) doi:10.2514/6.2018-0296"
},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "Morelli E. A.. Aircraft System Identification: Theory and Practice (2016)"
},
{
"identifiers": {
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},
"citation": "Gresham, J. L., Simmons, B. M., Fahmi, J.-M. W. & Woolsey, C. A. Remote Uncorrelated Pilot Inputs for Nonlinear Aerodynamic Model Identification from Flight Data. AIAA AVIATION 2021 FORUM (2021) doi:10.2514/6.2021-2792"
},
{
"identifiers": {
"doi": "10.2514/6.2022-2171"
},
"citation": "Simmons, B. M., Gresham, J. L. & Woolsey, C. A. Aero-Propulsive Modeling for Propeller Aircraft Using Flight Data. AIAA SCITECH 2022 Forum (2022) doi:10.2514/6.2022-2171"
},
{
"identifiers": {
"doi": "10.2514/6.2022-1160"
},
"citation": "Gresham, J. L., Simmons, B. M., Hopwood, J. W. & Woolsey, C. A. Spin Aerodynamic Modeling for a Fixed-Wing Aircraft Using Flight Data. AIAA SCITECH 2022 Forum (2022) doi:10.2514/6.2022-1160"
},
{
"identifiers": {
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},
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},
{
"identifiers": {},
"citation": "FahmiJ.M. W. “Passivity-Based Control of Small Unmanned Aerial Systems,” Ph.D. Thesis, Virginia Tech, Blacksburg, VA, 2023."
}
]
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{
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{
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"identifiers": {
"doi": "10.25368/2020.56"
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"type": "proceedings-article",
"title": "Optimal control of the hydraulic actuated boom system based on port-hamiltonian formulation",
"authors": [
{
"given": "Lingchong",
"family": "Gao",
"literal": null,
"source_fields": {
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"affiliation": []
}
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{
"given": "Johannes",
"family": "Fottner",
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{
"given": "Michael",
"family": "Kleeberger",
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{
"given": "Boyang",
"family": "Shi",
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"abstract": "The boom systems of mobile cranes and aerial platform vehicles are driven by hydraulic systems, to be specified, valve-controlled hydraulic cylinders. This hydraulic actuated boom system can accomplish the tasks such as lifting heavy loads or carrying personal to high position, by the design of a long boom structure. In practice, the boom structure is designed as light and slender as possible to control the structure self-weight. However, such structure is quite flexible and can be easily stimulated by the loads, including the driving force or torque from the hydraulic system. Our research focus es on trajectory planning for hydraulic actuated boom where both hydraulic driven system and boom structure deformation are considered. In this paper, the hydraulic actuated boom system is formulated as a port-Hamiltonian system which is a proper modelling method for multi-domain system. The problems of trajectory optimization and vibration control are formulated as optimal control problem based on port-Hamiltonian model and this procedure is tested on a model of hydraulic cylinder. A reasonable result is solved with the selected cost function and inputs.",
"container_title": "Volume 1 - Symposium",
"publication_year": "2020",
"volume": "",
"issue": "",
"pages": "489--498",
"publisher": "Technische Universität Dresden",
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"keywords": [],
"created_date": "2020-11-11",
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{
"id": "8a6ba076-79b3-5d50-b6d0-ac6c33a997c2",
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"doi": "10.26678/abcm.cobem2019.cob2019-1726"
},
"type": "proceedings-article",
"title": "USING BOND GRAPHS FOR MODELLING,IDENTIFICATION AND CONTROL OF A FIXED WING UAV FOR SUBSCALE FLIGHT TESTING",
"authors": [
{
"given": "Jeroen",
"family": "Minnema",
"literal": null,
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}
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{
"given": "Igor",
"family": "Mayer Soares",
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}
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{
"given": "Luiz Carlos",
"family": "Sandoval",
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}
},
{
"given": "Leandro",
"family": "Rodrigues Cunha",
"literal": null,
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}
},
{
"given": "Gerrit Adriaan",
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}
],
"abstract": "Subscale flight testing requires control and identification of unmanned aerial vehicles, in turn, these two aspects both require a competent dynamic model of the system. This work uses the port-based Bond Graph graphical modeling framework to model and simulate the dynamics and aerodynamics of a fixed wing unmanned aerial vehicle (UAV). This model is used to design a total energy compensated based controller (TECS) and to perform system identification using the Output Error Method (OEM). The platform of this work consists of two UAVs, a subscale model of a BAE Hawk fighter jet and a commercially available drone, the Vector-P. These UAVs are used to determine the aerodynamic derivatives and compare these with simulations, wind tunnel and real airplane data. Proper subscale flight testing requires repetitive steady flight conditions, which can only be properly realized using a stabilizing autopilot. The multidisciplinary nature of UAVs make them especially suitable for modeling using bond graphs, a universal domain-independent energy and port- based modeling framework. The explicit representation of energy in bond graph modelling matches very well with TECS control and provides valuable insights in controller operation and opens new doors to future UAV controlling techniques based on Port Hamiltonian systems.",
"container_title": "25th International Congress of Mechanical Engineering",
"publication_year": "2019",
"volume": "",
"issue": "",
"pages": "",
"publisher": "ABCM",
"event": "",
"keywords": [],
"created_date": "2019-12-04",
"permalink": "using-bond-graphs-for-modelling-identification-and-control-of-a-fixed-wing-uav-for-subscale-flight-testing",
"references": []
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{
"id": "723dcdd4-36f0-5be9-aa42-450296fd9452",
"identifiers": {
"doi": "10.30599/jipfri.v4i2.682"
},
"type": "journal-article",
"title": "Analisis Dinamika Stroller (Kereta Bayi) dengan Metode Port-Controlled Hamiltonian System (PCHS) berbasis Komputasi Fisika",
"authors": [
{
"given": "Melly",
"family": "Ariska",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Hamdi",
"family": "Akhsan",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Muhammad",
"family": "Muslim",
"literal": null,
"source_fields": {
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"affiliation": []
}
}
],
"abstract": "Computational physics can be used to help solve complex dynamics equations, both translational and rotational. The purpose of this study is to obtain differences in the dynamics of mechanical systems with non-holonomic constraints in various flat and curved configuration spaces based on physics computing. In this study the reduction used is a mathematical calculation of the Port-Contolled Hamiltonian System (PCHS) equation in a mechanical system that is a Stroller, so that the equation used in determining the Stroller motion equation with and without friction that moves in the curved plane in the form of a spherical surface with various initial conditions based on maple is Poincaré's equation which is based on Routhian reduction with and without friction. The effect of friction can be clearly seen through dynamics and graphical equations on the Stroller. This method can reduce the Stroller motion equation with and without friction that moves on the ball sphere clearly in the form of a set of differential equations. The findings of this study are dynamic equations and graphs of Stroller equations with and without friction that move in the curved plane in the form of a spherical ball with varying initial conditions based on maples. This study proves physical concepts about dynamics and kinematics and analyzes Stroller dynamics using computational physics to determine the characteristics of complex and complex Stroller movements, both translational and rotational.",
"container_title": "JIPFRI (Jurnal Inovasi Pendidikan Fisika dan Riset Ilmiah)",
"publication_year": "2021",
"volume": "4",
"issue": "2",
"pages": "77--84",
"publisher": "STKIP Nurul Huda",
"event": "",
"keywords": [],
"created_date": "2021-02-14",
"permalink": "analisis-dinamika-stroller-kereta-bayi-dengan-metode-port-controlled-hamiltonian-system-pchs-berbasis-komputasi-fisika",
"references": []
},
{
"id": "67eb6f0e-9608-5a19-aee3-b226df66e6dd",
"identifiers": {
"doi": "10.31130/ud-jst.2024.629e"
},
"type": "journal-article",
"title": "Port-hamiltonian formulation of an electrical circuit using different kinds of states",
"authors": [
{
"given": "Hoang Ngoc",
"family": "Ha",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Ho Phuoc",
"family": "Tien",
"literal": null,
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}
}
],
"abstract": "This work focuses on a dynamic electrical circuit whose dynamics are affine in the control input. Such dynamics are considered to be re-expressed in a canonical form, namely the port-Hamiltonian (pH) representation with dissipation, where the Hamiltonian is a quadratic function and has the unit of energy or power. On this basis, it allows revealing the transformation of energy (or power) inside the system, including the energy supply, storage and dissipation, thereby facilitating Lyapunov-based or energy-related control approaches for stabilization and optimization purposes. Two pH representations are proposed and compared; the first one is established with difficult-to-measure states while the second one is obtained with easier-to-measure states.",
"container_title": "The University of Danang - Journal of Science and Technology",
"publication_year": "2024",
"volume": "",
"issue": "",
"pages": "63--66",
"publisher": "The University of Danang",
"event": "",
"keywords": [],
"created_date": "2024-07-03",
"permalink": "port-hamiltonian-formulation-of-an-electrical-circuit-using-different-kinds-of-states",
"references": []
},
{
"id": "0ae4f971-3b98-555d-be3f-6255b54cfd17",
"identifiers": {
"doi": "10.3166/ejc.10.163-173"
},
"type": "journal-article",
"title": "New Energy-based Nonlinear Controller for Hydraulic Piston Actuators",
"authors": [
{
"given": "Andreas",
"family": "Kugi",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Wolfgang",
"family": "Kemmetmüller",
"literal": null,
"source_fields": {
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],
"abstract": "A new nonlinear controller for a general class of hydraulic piston actuators is derived. The controller design is founded on an energy-based formulation of the mathematical model, taking into account the fundamental relations of an isentropic fluid. The control law guarantees that the errors of the piston position, the velocity and the piston force asymptotically approach zero and that the desired equilibrium of the overall closed-loop system is stable. By means of an industrial simulation software for hydraulic systems extensive simulation tests have been performed, also considering the robustness with respect to parameter variations and measurement noise. In all cases, the results prove the feasibility and the practical usefulness of the concept being proposed.",
"container_title": "European Journal of Control",
"publication_year": "2004",
"volume": "10",
"issue": "2",
"pages": "163--173",
"publisher": "Elsevier BV",
"event": "",
"keywords": [
"Energy-based Controller Design; Hydraulic Piston Actuator; Nonlinear Control; PortHamiltonian System"
],
"created_date": "2007-06-14",
"permalink": "new-energy-based-nonlinear-controller-for-hydraulic-piston-actuators",
"references": [
{
"identifiers": {},
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"identifiers": {
"doi": "10.3166/ejc.10.411-420"
},
"type": "journal-article",
"title": "Port-Based Asymptotic Curve Tracking for Mechanical Systems",
"authors": [
{
"given": "Vincent",
"family": "Duindam",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Stefano",
"family": "Stramigioli",
"literal": null,
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"affiliation": []
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"abstract": "We examine the control problem of curve-tracking for a fully actuated mechanical system. Using a coordinate transformation on the momentum variables, we split the kinetic energy of the system in a desired and an undesired part, and then design an (intrinsically passive) controller as an interconnection of port- Hamiltonian subsystems, in such a way that asymptotic convergence to the desired curve is obtained. We illustrate the performance in a simulation.",
"container_title": "European Journal of Control",
"publication_year": "2004",
"volume": "10",
"issue": "5",
"pages": "411--420",
"publisher": "Elsevier BV",
"event": "",
"keywords": [
"Hamiltonian Control Systems; Mechanical Systems; Nonlinear Control"
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"permalink": "port-based-asymptotic-curve-tracking-for-mechanical-systems",
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{
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},
{
"id": "101bf9c8-3c0b-5827-9c53-d75c4bfc845c",
"identifiers": {
"doi": "10.3166/ejc.10.421-431"
},
"type": "journal-article",
"title": "Trajectory Tracking Control of Nonholonomic Hamiltonian Systems via Generalized Canonical Transformations",
"authors": [
{
"given": "Kenji",
"family": "Fujimoto",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Kazunori",
"family": "Sakurama",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
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{
"given": "Toshiharu",
"family": "Sugie",
"literal": null,
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"abstract": "This paper is devoted to a unified approach to trajectory tracking control of nonholonomic portcontrolled Hamiltonian systems via generalized canonical transformations. The basic strategy of this approach is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. This technique works for both holonomic and nonholonomic port-controlled Hamiltonian systems. A practical design procedure to derive global tracking controllers for those systems is proposed. This method is a natural extension of the conventional passivity based control.",
"container_title": "European Journal of Control",
"publication_year": "2004",
"volume": "10",
"issue": "5",
"pages": "421--431",
"publisher": "Elsevier BV",
"event": "",
"keywords": [
"hamiltonian systems",
"nonholonomic systems",
"trajectory tracking"
],
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"permalink": "trajectory-tracking-control-of-nonholonomic-hamiltonian-systems-via-generalized-canonical-transformations",
"references": [
{
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{
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{
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{
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{
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},
{
"identifiers": {
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{
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},
{
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},
{
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{
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{
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{
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{
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},
{
"id": "bb74b2e8-3b2a-55d2-99f8-9d82df69204e",
"identifiers": {
"doi": "10.3166/ejc.10.451-468"
},
"type": "journal-article",
"title": "Physical Damping in IDA-PBC Controlled Underactuated Mechanical Systems",
"authors": [
{
"given": "F.",
"family": "Gómez-Estern",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "A.J.",
"family": "Van der Schaft",
"literal": null,
"source_fields": {
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"abstract": "Energy shaping and passivity-based control designs have proven to be effective in solving control problems for underactuated mechanical systems. In recent works, interconnection and damping assignment passivitybased control (IDA-PBC) has been successfully applied to open-loop conservative models, that is, with no physical damping (e.g. friction) present. In a number of cases, in particular when IDA-PBC control only involves potential energy shaping, the actual presence of physical damping will not compromise the achieved closed-loop stability. However, when IDAPBC control also includes the shaping of the kinetic energy, closed-loop stability or even passivity for the model without physical damping may be lost if physical damping is present. This raises two fundamental questions. First, in which cases is the IDA-PBC controlled system designed on the basis of the undamped model still stable and passive when physical damping is present? Second, if this is not the case, when is it possible to redesign the IDA-PBC control law for the undamped systems such that stability and passivity are regained? This paper provides necessary and sufficient conditions for the existence of such a control redesign for a particular choice of the closed-loop energy function. Furthermore, if these conditions are satisfied then two methods for redesign are presented, which can be chosen depending on the problem structure and the parameter uncertainties. Finally, even in the cases where the addition of physical damping does not hamper the stability properties of the IDA-PBC design based on the undamped model, we show that the aforementioned redesign is still useful in order to reduce the mathematical complexity in exponential and asymptotic stability analysis.",
"container_title": "European Journal of Control",
"publication_year": "2004",
"volume": "10",
"issue": "5",
"pages": "451--468",
"publisher": "Elsevier BV",
"event": "",
"keywords": [
"Energy Shaping; Passivity; Physical Damping; Port-Hamiltonian Systems; Mechanical Systems"
],
"created_date": "2007-06-14",
"permalink": "physical-damping-in-ida-pbc-controlled-underactuated-mechanical-systems",
"references": [
{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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},
{
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},
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},
{
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{
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{
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}
]
},
{
"id": "7474b407-1afc-5287-9bb9-8c1135b7ae91",
"identifiers": {
"doi": "10.3166/ejc.10.505-514"
},
"type": "journal-article",
"title": "Port Based Modeling of Spatial Visco-Elastic Contacts",
"authors": [
{
"given": "Stefano",
"family": "Stramigioli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Vincent",
"family": "Duindam",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In this paper, the geometrical description of viscoelastic contacts is described using physical modeling concepts based on energy conservation and network theory. The proposed model is on one side simple enough to be used in real time applications and on the other captures the geometrical features and coupling of a complete spatial geometric unisotropical contact.",
"container_title": "European Journal of Control",
"publication_year": "2004",
"volume": "10",
"issue": "5",
"pages": "505--514",
"publisher": "Elsevier BV",
"event": "",
"keywords": [
"Contacts; Geometry; Port-Hamiltonian"
],
"created_date": "2007-06-14",
"permalink": "port-based-modeling-of-spatial-visco-elastic-contacts",
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},
{
"id": "5f20afd2-5b31-5912-bcc7-684dde802620",
"identifiers": {
"doi": "10.3166/ejc.11.209-221"
},
"type": "journal-article",
"title": "Power Flow Control of a Doubly-Fed Induction Machine Coupled to a Flywheel",
"authors": [
{
"given": "Carles",
"family": "Batlle",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Arnau",
"family": "Dòria-Cerezo",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Romeo",
"family": "Ortega",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "We consider a doubly-fed induction machine – controlled through the rotor voltage and connected to a variable local load – that acts as an energy-switching device between a local prime mover (a flywheel) and the electrical power network. The control objective is to optimally regulate the power flow, and this is achieved by commuting between different steady-state regimes. We first show that the zero dynamics of the system is only marginally stable; thus, complicating its control via feedback linearization. Instead, we apply the energy-based Interconnection and Damping Assignment Passivity-Based Control technique that does not require stable invertibility. It is shown that the partial differential equation that appears in this method can be circumvented by fixing the desired closed-loop total energy and adding new terms to the interconnection structure. Furthermore, to obtain a globally defined control law we introduce a state-dependent damping term that has the nice interpretation of effectively decoupling the electrical and mechanical parts of the system. This results in a globally convergent controller parameterized by two degrees of freedom, which can be used to implement the power management policy The controller is simulated and shown to work satisfactorily for various realistic load changes.",
"container_title": "European Journal of Control",
"publication_year": "2005",
"volume": "11",
"issue": "3",
"pages": "209--221",
"publisher": "Elsevier BV",
"event": "",
"keywords": [
"Doubly-Fed Induction Machine; Passivitybased Control; Port-Hamiltonian Models; Power Flow Control"
],
"created_date": "2007-06-02",
"permalink": "power-flow-control-of-a-doubly-fed-induction-machine-coupled-to-a-flywheel",
"references": [
{
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{
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{
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},
{
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{
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"title": "Tracking of Partially Unknown Trajectories for Permanent Magnet Synchronous Motors,",
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"abstract": "In this paper, an adaptive internal model-based control architecture is designed to deal with an exogenous trajectory tracking problem for a Permanent Magnet Synchronous Motor (PMSM). More in detail, we show how to design a controller able to guarantee the asymptotic tracking of partially unknown exogenous trajectories belonging to a given family, embedding in the regulator the internal model of this family; the control algorithm is able to attain the asymptotic tracking without the knowledge of reference derivatives and exploiting only instantaneous error feedbacks. The theoretical machinery exploited is the nonlinear regulation theory, specialized for the energy-based port- Hamiltonian formalism. The same methodology is proved to be able to deal even with the presence of exogenous voltage disturbances superimposed to the control voltages.",
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{
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"doi": "10.3166/ejc.16.401-406"
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"type": "journal-article",
"title": "Passivity and Structure Preserving Order Reduction of Linear Port-Hamiltonian Systems Using Krylov Subspaces",
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"given": "Thomas",
"family": "Wolf",
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{
"given": "Boris",
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{
"given": "Rudy",
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"abstract": "In this paper, a new structure-preserving scheme for the reduction of linear port-Hamiltonian systems with dissipation using Krylov subspaces is presented. It is shown how to choose the projection matrices in order to guarantee the moment matching property and to obtain a passive and thus stable reduced-order model in port-Hamiltonian form. The method is suitable for the reduction of largescale systems as it employs only the well-known Arnoldi algorithm and matrix-vector multiplications to compute the reduced-order model. Afinite element model is reduced to illustrate the new method.",
"container_title": "European Journal of Control",
"publication_year": "2010",
"volume": "16",
"issue": "4",
"pages": "401--406",
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"doi": "10.3166/ejc.16.545-563"
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"type": "journal-article",
"title": "Control by Interconnection and Energy-Shaping Methods of Port Hamiltonian Models. Application to the Shallow Water Equations",
"authors": [
{
"given": "Boussad",
"family": "Hamroun",
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{
"given": "Alexandru",
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"abstract": "In this article a control algorithm for the reduced port-Controlled Hamiltonian model (PCH) of the shallow water equations partial differential equations (PDEs) is developed. This control is developed using the Interconnection and Damping Assignment Passivity Based Control (IDAPBC) method on the reduced PCH model without the natural dissipation. It allows to assign desired structure and energy function to the closed-loop system. The same control law is then derived using an energy-shaping method based on Casimir's invariants, associated with a particular conservative interconnection between the boundary variables. This gives a physical interpretation for the designed controller. Finally, a stability analysis of the dissipative system in closed loop with the designed control is done using LaSalle's invariance principle. Simulation results and an experimental validation of the control algorithm on an a micro-canal platform are presented showing the effectiveness of the control law.",
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"abstract": "We consider port-Hamiltonian systems with dissipation (PHSD) whose underlying geometric structure is represented as the composition of a Dirac and a resistive structure. We show how the choice of a new passive input-output pair for a PHSD is reflected in a new Dirac structure. We define a general class of new passive inputoutput pairs for a PHSD and subsequently compute (in a constructive manner) the resulting new Dirac structure and examine the achievable Casimirs for this new Dirac structure. We focus on the special case where only the passive output is changed (while retaining the original input) and subsequently define a general class of new passive outputs for the PHSD. We then identify (on the basis of the achievable Casimirs) the precise form of the so-called dissipation obstacle, and how this obstacle may be removed by changing the passive output.We also review the “swapping the damping” procedure for computing a new passive output, and show how this can be obtained as a special case within our approach. We finally consider the examples of the RLC-circuit and MEMS optical switch to investigate the role played by the new class of passive outputs in shaping the system's energy.",
"container_title": "European Journal of Control",
"publication_year": "2010",
"volume": "16",
"issue": "6",
"pages": "665--677",
"publisher": "Elsevier BV",
"event": "",
"keywords": [
"Port-Hamiltonian; Dirac structures; Passivity; Casimirs"
],
"created_date": "2011-02-08",
"permalink": "energy-shaping-of-port-hamiltonian-systems-by-using-alternate-passive-input-output-pairs",
"references": [
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1090/pspum/064/1654513"
},
"citation": "Bloch, A. M. & Crouch, P. E. Representations of Dirac structures on vector spaces and nonlinear L-C circuits. Proceedings of Symposia in Pure Mathematics 103–117 (1998) doi:10.1090/pspum/064/1654513"
},
{
"identifiers": {},
"citation": "Borovic, Control of a MEMS Optical Switch. (2004)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2004.04.007"
},
"citation": "Jeltsema, D., Ortega, R. & M.A. Scherpen, J. An energy-balancing perspective of interconnection and damping assignment control of nonlinear systems. Automatica vol. 40 1643–1646 (2004)"
},
{
"identifiers": {},
"citation": "Goodwin, Dynamic System Identification: Experiment Design and Data Analysis. Mathematics in Science and Engineering. Academic Press Inc (1977)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2006.08.014"
},
"citation": "Cervera, J., van der Schaft, A. J. & Baños, A. Interconnection of port-Hamiltonian systems and composition of Dirac structures. Automatica vol. 43 212–225 (2007)"
},
{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM Journal on Control and Optimization vol. 37 54–91 (1998)"
},
{
"identifiers": {},
"citation": "Ortega, Energy-Shaping of port-Controlled Hamiltonian Systems by Interconnection. (1999)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Systems vol. 21 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1080/00207170701361273"
},
"citation": "Pasumarthy, R. & van der Schaft, A. J. Achievable Casimirs and its implications on control of port-Hamiltonian systems. International Journal of Control vol. 80 1421–1438 (2007)"
},
{
"identifiers": {
"doi": "10.1109/tac.2008.2006930"
},
"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Transactions on Automatic Control vol. 53 2527–2542 (2008)"
}
]
},
{
"id": "f4eb9b56-7b1c-5d70-a88a-cae8c4ba6b83",
"identifiers": {
"doi": "10.3182/20020721-6-es-1901.00250"
},
"type": "journal-article",
"title": "ON NONLINEAR RLC NETWORKS: PORT-CONTROLLED HAMILTONIAN SYSTEMS DUALIZE THE BRAYTON-MOSER EQUATIONS",
"authors": [
{
"given": "Dimitri",
"family": "Jeltsema",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Jacquelien M.A.",
"family": "Scherpen",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In this paper it is shown that the recently proposed port-controlled Hamiltonian systems with dissipation precisely dualize the classical Brayton-Moser equations. As a consequence, useful and important properties of the one framework can be translated to the other. For both frameworks a novel method is proposed to deal with networks containing capacitor-only loops or inductor-only cutsets using the Lagrange multiplier. This leads to the notion of implicit Brayton-Moser equations. Furthermore, the form and existence of the mixed-potential function is rederived from an external port point of view.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2002",
"volume": "35",
"issue": "1",
"pages": "1--6",
"publisher": "Elsevier BV",
"event": "15th IFAC World Congress",
"keywords": [
"Physical models; Hamiltonian systems; Brayton-Moser equations; passive elements; electrical networks"
],
"created_date": "2010-09-07",
"permalink": "on-nonlinear-rlc-networks-port-controlled-hamiltonian-systems-dualize-the-brayton-moser-equations",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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{
"identifiers": {
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},
{
"identifiers": {},
"citation": "Ortega, (1998)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
},
{
"identifiers": {
"doi": "10.1109/cdc.1996.574296"
},
"citation": "van der Schaft, A. J., Dalsmo, M. & Maschke, B. M. Mathematical structures in the network representation of energy-conserving physical systems. Proceedings of 35th IEEE Conference on Decision and Control vol. 1 201–206"
},
{
"identifiers": {},
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},
{
"identifiers": {},
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}
]
},
{
"id": "dfa0b38e-a3da-5e49-9ba3-bbb1ebe2797e",
"identifiers": {
"doi": "10.3182/20020721-6-es-1901.00252"
},
"type": "journal-article",
"title": "CONSIDERATIONS ON THE ZERO-DYNAMICS OF PORT HAMILTONIAN SYSTEMS AND APPLICATION TO PASSIVE IMPLEMENTATION OF SLIDING-MODE CONTROL",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Stefano",
"family": "Stramigioli",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Arjan van der",
"family": "Schaft",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Claudio",
"family": "Melchiorri",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In this paper, a passive control scheme for port Hamiltonian systems with dissipation (PHD) is presented. The control scheme is able to conserve the PHD structure of the system when constrained on a sub-manifold of the state space. The idea is to modify both the interconnection and damping structures of the system and to add a proper dynamical extension in such a way that the constraint can be related to some dynamical invariants of the resulting closed-loop system. Since part of the structure of this dynamical extension can be arbitrarily chosen, it is also possible to drive the state of the system on the constraint and to obtain the dynamical behavior defined by the constraint. For example, if a proper variable structure dynamical extension is chosen, it is possible to achieve a sliding-mode behavior that can be interpreted by means of energetic considerations.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2002",
"volume": "35",
"issue": "1",
"pages": "13--18",
"publisher": "Elsevier BV",
"event": "15th IFAC World Congress",
"keywords": [
"Hamiltonian systems; Casimir functions; constrained dynamics; sliding mode"
],
"created_date": "2010-09-07",
"permalink": "considerations-on-the-zero-dynamics-of-port-hamiltonian-systems-and-application-to-passive-implementation-of-sliding-mode-control",
"references": [
{
"identifiers": {},
"citation": "Maschke, Port-controlled hamiltonian systems: modeling origins and system theoretic approach. Proc. 2nd IFAC NOLCOS, Bordeaux (1992)"
},
{
"identifiers": {},
"citation": "Nijmeijer, (1991)"
},
{
"identifiers": {},
"citation": "Ortega, Interconnection and damping assignment passivity-based control of port-controlled hamiltonian system. Automatica (2000)"
},
{
"identifiers": {
"doi": "10.1080/00207178808906256"
},
"citation": "SIRA-RAMIREZ, H. Differential geometric methods in variable-structure control. International Journal of Control 48, 1359–1390 (1988)"
},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "Stramigioli, (2001)"
},
{
"identifiers": {},
"citation": "van der Schaft, (1999)"
}
]
},
{
"id": "2233b0d0-8a94-5136-8412-cfbdf2b2bea1",
"identifiers": {
"doi": "10.3182/20020721-6-es-1901.01247"
},
"type": "journal-article",
"title": "SOME REMARKS ON NONLINEAR FEEDBACK CONTROL OF A RIGID SPACECRAFT",
"authors": [
{
"given": "Houria",
"family": "Siguerdidjane",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
}
],
"abstract": "This paper is dealing with the control of a rigid spacecraft. The nonlinear feedback controls, derived by using the approaches that have been recently developed, based on the port controlled hamiltonian (PCH) structure, are compared to the one derived by the methods based on the eigenstructure proposed by the author in previous work. The aim is to emphasize that, using the second approach appears as a particular case than using the first approach. Moreover, the results have been applied to derive the control laws of a launcher in the phase outside the atmosphere. It may be interesting to observe that the coefficients of the damping matrix, involved in PCH approach, have not the same effect on the system sensitivity. This paper somehow extends the related one presented by the author at the IFAC symposium in aerospace control.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2002",
"volume": "35",
"issue": "1",
"pages": "133--138",
"publisher": "Elsevier BV",
"event": "15th IFAC World Congress",
"keywords": [
"nonlinear feedback control",
"port controlled hamiltonian structure",
"rigid body"
],
"created_date": "2010-09-07",
"permalink": "some-remarks-on-nonlinear-feedback-control-of-a-rigid-spacecraft",
"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Energy-shaping of port-controlled Hamiltonian systems by interconnection. Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) vol. 2 1646–1651"
},
{
"identifiers": {
"doi": "10.1109/cca.2000.897518"
},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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{
"identifiers": {
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},
{
"identifiers": {},
"citation": "Van der Shaft, (2000)"
}
]
},
{
"id": "bb1ff1ba-ff84-515b-a282-06027fa66668",
"identifiers": {
"doi": "10.3182/20050703-6-cz-1902.00501"
},
"type": "journal-article",
"title": "INTERNAL MODEL BASED FRAMEWORK FOR TRACKING AND FAULT TOLERANT CONTROL OF A PERMANENT MAGNET SYNCHRONOUS MOTOR",
"authors": [
{
"given": "Claudio",
"family": "Bonivento",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Luca",
"family": "Gentili",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Andrea",
"family": "Paoli",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In this paper an adaptive internal model based control scheme is designed to deal with tracking and input disturbance suppression problems for a permanent magnet synchronous motor. More in detail we show how to design a controller able to guarantee the perfect asymptotic tracking of unknown exogenous trajectories belonging to a certain family, embedding in the regulator the internal model of this family; the theoretical machinery exploited in order to prove the global asymptotical stability of the solution exposed is the nonlinear output regulation theory, specialized for the energy-based port-Hamiltonian formalism.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "604--609",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
"keywords": [
"fault tolerant control",
"internal model based control",
"permanent magnet motor",
"port-hamiltonian systems"
],
"created_date": "2010-09-07",
"permalink": "internal-model-based-framework-for-tracking-and-fault-tolerant-control-of-a-permanent-magnet-synchronous-motor",
"references": [
{
"identifiers": {
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},
"citation": "Astolfi, A., Isidori, A. & Marconi, L. A Note on Disturbance Suppression for Hamiltonian Systems by State Feedback. IFAC Proceedings Volumes 36, 211–216 (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.10.003"
},
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},
{
"identifiers": {
"doi": "10.1109/cdc.2004.1429643"
},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(96)00184-7"
},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/s1474-6670(17)38892-4"
},
"citation": "Gentili, L. & van der Schaft, A. Regulation and Input Disturbance Suppression for Port-Controlled Hamiltonian Systems 1. IFAC Proceedings Volumes 36, 205–210 (2003)"
},
{
"identifiers": {
"doi": "10.1109/9.975514"
},
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},
{
"identifiers": {},
"citation": "Isidori, (1995)"
},
{
"identifiers": {
"doi": "10.1016/s0947-3580(98)70107-4"
},
"citation": "Nikiforov, V. O. Adaptive Non-linear Tracking with Complete Compensation of Unknown Disturbances. European Journal of Control 4, 132–139 (1998)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/9.940923"
},
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},
{
"identifiers": {
"doi": "10.1109/87.338661"
},
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},
{
"identifiers": {
"doi": "10.1109/cdc.1994.411114"
},
"citation": "Shouse, K. R. & Taylor, D. G. Sensorless velocity control of permanent-magnet synchronous motors. Proceedings of 1994 33rd IEEE Conference on Decision and Control vol. 2 1844–1849"
},
{
"identifiers": {
"doi": "10.1109/87.668033"
},
"citation": "Shouse, K. R. & Taylor, D. G. Sensorless velocity control of permanent-magnet synchronous motors. IEEE Trans. Contr. Syst. Technol. 6, 313–324 (1998)"
},
{
"identifiers": {},
"citation": "van der Schaft, (1999)"
},
{
"identifiers": {
"doi": "10.1109/41.836350"
},
"citation": "Guchuan Zhu, Dessaint, L.-A., Akhrif, O. & Kaddouri, A. Speed tracking control of a permanent-magnet synchronous motor with state and load torque observer. IEEE Trans. Ind. Electron. 47, 346–355 (2000)"
}
]
},
{
"id": "a46de213-4592-58f8-89d7-4a27ceb92fe4",
"identifiers": {
"doi": "10.3182/20050703-6-cz-1902.00709"
},
"type": "journal-article",
"title": "ON CONTROL BY INTERCONNECTION OF PORT HAMILTONIAN SYSTEMS",
"authors": [
{
"given": "Eloísa",
"family": "Garcia–Canseco",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Ramkrishna",
"family": "Pasumarthy",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Arjan",
"family": "van der Schaft",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Romeo",
"family": "Ortega",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In the standard approach of control by interconnection the plant and the controller are assumed to be passive and coupled via a power-preserving interconnection-generating an overall passive system with storage function the sum of the plant and controller storage functions. To achieve stabilization of a desired equilibrium one must make this point a minimum of the new storage function. Towards this end, dynamic invariants—called Casimirs—are first computed. Restricting the dynamics to the level sets of the Casimirs, the overall storage function becomes a bona fide function of the plant states and the storage function can be shaped. Unfortunately, this procedure is applicable only if one fixes the initial conditions of the controller to some specific values. To remove this drawback we propose in this paper to carry out the stability analysis in the full plant and controller state spaces. The new storage function is then the sum of the plant and the controller Hamiltonians and an arbitrary functions of the corresponding Casimir functions. We also provide some examples which illustrate the possibilities and limitations of the new method.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "330--335",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
"keywords": [
"Interconnection; Lyapunov stability"
],
"created_date": "2010-09-07",
"permalink": "on-control-by-interconnection-of-port-hamiltonian-systems",
"references": [
{
"identifiers": {
"doi": "10.1016/j.automatica.2004.04.007"
},
"citation": "Jeltsema, D., Ortega, R. & M.A. Scherpen, J. An energy-balancing perspective of interconnection and damping assignment control of nonlinear systems. Automatica 40, 1643–1646 (2004)"
},
{
"identifiers": {
"doi": "10.1109/9.871758"
},
"citation": "Maschke, B., Ortega, R. & Van Der Schaft, A. J. Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation. IEEE Trans. Automat. Contr. 45, 1498–1502 (2000)"
},
{
"identifiers": {
"doi": "10.1002/rnc.804"
},
"citation": "Rodríguez, H. & Ortega, R. Stabilization of electromechanical systems via interconnection and damping assignment. Intl J Robust & Nonlinear 13, 1095–1111 (2003)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
"citation": "Pérez, Passivity-Based PI Control of Switched Power Converters. IEEE Transactions on Control Systems Technology (2004)"
},
{
"identifiers": {
"doi": "10.1109/87.960344"
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"citation": "Petrovic, V., Ortega, R. & Stankovi, A. M. Interconnection and damping assignment approach to control of PM synchronous motors. IEEE Trans. Contr. Syst. Technol. 9, 811–820 (2001)"
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{
"identifiers": {},
"citation": "van der Schaft, (2000)"
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"given": "Satoru",
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{
"given": "Kenji",
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"abstract": "This paper is concerned with discontinuous output feedback stabilization of a class of nonholonomic systems in a port-controlled Hamiltonian form. First, in order to obtain a dynamic feedback, an integrator is added to the system via a generalized canonical transformation. Second, we clarify an equivalence between asymptotic stability of a state feedback system and that of the corresponding output feedback system. An output feedback stabilization method is derived based on this equivalence. Furthermore, some numerical examples show the effectiveness of our technique.",
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{
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},
{
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{
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{
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{
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{
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"citation": "Ortega, R., van der Schaft, A. J. & Maschke, B. M. Stabilization of port-controlled Hamiltonian systems via energy balancing. Lecture Notes in Control and Information Sciences 239–260 (1999) doi:10.1007/1-84628-577-1_13"
},
{
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{
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{
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"doi": "10.3182/20050703-6-cz-1902.00711"
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"title": "CONSERVATIVE SYSTEMS WITH PORTS ON CONTACT MANIFOLDS",
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"given": "D.",
"family": "Eberard",
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"given": "B.",
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"abstract": "In this paper we propose an extension of port Hamiltonian systems, called conservative systems with ports, which encompass systems arising from the Irreversible Thermodynamics. Firstly we lift a port Hamiltonian system from its state space manifold to the thermodynamic phase space to a contact vector field with inputs and outputs. Secondly we define a more general class of contact vector field (called conservative system with ports) generated by a function corresponding to the power of a physical system and illustrate it on a simple example of irreversible system.",
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{
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{
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{
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{
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{
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"doi": "10.3182/20050703-6-cz-1902.00722"
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"type": "journal-article",
"title": "FEEDBACK REGULATION OF A DC MOTOR VIA INTERCONNECTION AND DAMPING ASSIGNMENT",
"authors": [
{
"given": "Atilio",
"family": "Morillo",
"literal": null,
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{
"given": "Miguel",
"family": "Rios-Bolívar",
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{
"given": "Vivian",
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"abstract": "In this work, we consider the application of the Interconnection and Damping Assignment (IDA) control methodology, recently proposed in the literature, to the asymptotic position regulation problem of a brushed DC motor driving a mechanical load. To achieve this objective the electromechanical system is firstly transformed into the general port controlled Hamiltonian form and, then, the IDA design procedure is applied to synthesize the stabilizing control law. The Hamiltonian structure of the closed loop system is preserved and the asymptotic stability of the mechanical position is verified by digital simulations.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "406--410",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
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"nonlinear control systems",
"stabilizing controllers"
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"references": [
{
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{
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{
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{
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{
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{
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{
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},
{
"identifiers": {
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{
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},
{
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{
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}
]
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"id": "dc4633b2-bb0d-5c60-b8da-1e484528fdbd",
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"doi": "10.3182/20050703-6-cz-1902.00726"
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"type": "journal-article",
"title": "FROM NONLINEAR SYSTEMS TO PORT CONTROLLED HAMILTONIAN SYSTEMS",
"authors": [
{
"given": "Daizhan",
"family": "Cheng",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Romeo",
"family": "Ortega",
"literal": null,
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"affiliation": []
}
},
{
"given": "Elena",
"family": "Panteley",
"literal": null,
"source_fields": {
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}
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],
"abstract": "This paper gives necessary and sufficient conditions under which an affine nonlinear system is feedback equivalent to a port controlled Hamiltonian system. In particular, we identify the minimum number of linear partial differential equations that need to be solved to achieve this transformation.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "429--434",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
"keywords": [
"Hamiltonian systems; pseudo–gradient systems; passivity-based control; feedback equivalence"
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"created_date": "2010-09-07",
"permalink": "from-nonlinear-systems-to-port-controlled-hamiltonian-systems",
"references": [
{
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},
{
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},
{
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
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},
{
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"citation": "van der Schaft, (1999)"
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]
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"id": "e866c2d0-51f4-5b4f-86bb-4e8892f63e30",
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"doi": "10.3182/20050703-6-cz-1902.00735"
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"type": "journal-article",
"title": "FROM CONSERVATION LAWS TO PORT-HAMILTONIAN REPRESENTATIONS OF DISTRIBUTED-PARAMETER SYSTEMS",
"authors": [
{
"given": "B.M.",
"family": "Maschke",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "A.J.",
"family": "van der Schaft",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
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],
"abstract": "In this paper it is shown how the port-Hamiltonian formulation of distributed-parameter systems is closely related to the general thermodynamic framework of systems of conservation laws and closure equations. The situation turns out to be similar to the lumped-parameter case where the Dirac structure captures the basic interconnection laws, and the closure equations correspond to the constitutive relations of the energy-storing elements.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "483--488",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
"keywords": [
"Interconnected systems; modeling; energy storage; geometric theory"
],
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"permalink": "from-conservation-laws-to-port-hamiltonian-representations-of-distributed-parameter-systems",
"references": [
{
"identifiers": {
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},
"citation": "Blankenstein, G. & van der Schaft, A. J. Symmetry and reduction in implicit generalized Hamiltonian systems. Reports on Mathematical Physics 47, 57–100 (2001)"
},
{
"identifiers": {
"doi": "10.1090/s0002-9947-1990-0998124-1"
},
"citation": "Courant, T. J. Dirac manifolds. Trans. Amer. Math. Soc. 319, 631–661 (1990)"
},
{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
},
{
"identifiers": {},
"citation": "Dorfman, (1993)"
},
{
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},
{
"identifiers": {},
"citation": "Karnopp, (1990)"
},
{
"identifiers": {
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"citation": "Maschke, B. M. J. & van der Schaft, A. J. Port Controlled Hamiltonian Representation of Distributed Parameter Systems. IFAC Proceedings Volumes 33, 27–37 (2000)"
},
{
"identifiers": {
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{
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{
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{
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
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},
{
"identifiers": {},
"citation": "van der Schaft, The Hamiltonian formulation of energy conserving physical systems with external ports. Archiv für Elektronik und Übertragungstechnik (1995)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2001.980911"
},
"citation": "Van der Schaft, A. J. & Maschke, B. M. Fluid dynamical systems as Hamiltonian boundary control systems. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 5 4497–4502"
},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
"identifiers": {},
"citation": "Serre, (1999)"
}
]
},
{
"id": "899f9735-2476-5213-a4d4-8361a1aa9303",
"identifiers": {
"doi": "10.3182/20050703-6-cz-1902.00736"
},
"type": "journal-article",
"title": "CONTROL BY INTERCONNECTION FOR DISTRIBUTED PORT HAMILTONIAN SYSTEMS",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Arjan",
"family": "van der Schaft",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Claudio",
"family": "Melchiorri",
"literal": null,
"source_fields": {
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],
"abstract": "In this paper, new results on the control of distributed parameter systems in port Hamiltonian form are presented. The control by interconnection and energy shaping is applied to the stabilization of a distributed parameter system by means of a finite dimensional controller. The regulator acts on the system through the boundary or the distributed port. The key point is the generalization of Casimir function for systems resulting from the power conserving interconnection of an infinite and a finite dimensional part.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "489--494",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
"keywords": [
"Port-Hamiltonian systems; Infinite-dimensional systems; Energy-shaping"
],
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"permalink": "control-by-interconnection-for-distributed-port-hamiltonian-systems",
"references": [
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/cdc.2004.1429324"
},
"citation": "Macchelli, A., van der Schaft, A. J. & Melchiorri, C. Port Hamiltonian formulation of infinite dimensional systems I. Modeling. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 3762-3767 Vol.4 (2004) doi:10.1109/cdc.2004.1429324"
},
{
"identifiers": {
"doi": "10.1109/cdc.2004.1429325"
},
"citation": "Macchelli, A., van der Schaft, A. J. & Melchiorri, C. Port Hamiltonian formulation of infinite dimensional systems II. Boundary control by interconnection. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 3768-3773 Vol.4 (2004) doi:10.1109/cdc.2004.1429325"
},
{
"identifiers": {},
"citation": "Marsden, (1994)"
},
{
"identifiers": {
"doi": "10.1007/1-84628-577-1_13"
},
"citation": "Ortega, R., van der Schaft, A. J. & Maschke, B. M. Stabilization of port-controlled Hamiltonian systems via energy balancing. Lecture Notes in Control and Information Sciences 239–260 (1999) doi:10.1007/1-84628-577-1_13"
},
{
"identifiers": {},
"citation": "Renardy, (2004)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
}
]
},
{
"id": "98388e08-cb91-5045-b265-940ce8aef448",
"identifiers": {
"doi": "10.3182/20050703-6-cz-1902.00737"
},
"type": "journal-article",
"title": "DISCRETE PORT HAMILTONIAN SYSTEMS",
"authors": [
{
"given": "V.",
"family": "Talasila",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "J.",
"family": "Clemente-Gallardo",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "A.J.",
"family": "van der Schaft",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "Either from a control theoretic viewpoint or from an analysis viewpoint it is necessary to convert smooth systems to discrete systems, which can then be implemented on computers for numerical simulations. Discrete models can be obtained either by discretizing a smooth model, or by directly modeling at the discrete level itself. One of the goals of this paper is to model port-Hamiltonian systems at the discrete level. We also show that the dynamics of the discrete models we obtain exactly correspond to the dynamics obtained via a usual discretization procedure. In this sense we offer an alternative to the usual procedure of modeling (at the smooth level) and discretization.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "495--500",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
"keywords": [
"Discrete geometry; Discrete port-Hamiltonian systems"
],
"created_date": "2010-09-07",
"permalink": "discrete-port-hamiltonian-systems0",
"references": [
{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
},
{
"identifiers": {
"doi": "10.1017/s096249290100006x"
},
"citation": "Marsden, J. E. & West, M. Discrete mechanics and variational integrators. Acta Numerica 10, 357–514 (2001)"
},
{
"identifiers": {
"doi": "10.1016/s0016-0032(92)90049-m"
},
"citation": "Maschke, B. M., Van Der Schaft, A. J. & Breedveld, P. C. An intrinsic hamiltonian formulation of network dynamics: non-standard poisson structures and gyrators. Journal of the Franklin Institute 329, 923–966 (1992)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1088/0305-4470/37/41/008"
},
"citation": "Talasila, V., Clemente-Gallardo, J. & Schaft, A. J. van der. Geometry and Hamiltonian mechanics on discrete spaces. J. Phys. A: Math. Gen. 37, 9705–9734 (2004)"
},
{
"identifiers": {},
"citation": "van der Schaft, The hamiltonian formulation of energy conserving physical systems with external ports. Archiv fur Electronik und Ubertragungstechnik, pp. 362-371 (1995)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
}
]
},
{
"id": "2c1ed944-124a-5b54-b6bd-02c62d52d180",
"identifiers": {
"doi": "10.3182/20050703-6-cz-1902.00751"
},
"type": "journal-article",
"title": "STABILITY AND ROBUSTNESS OF DISTURBED-PORT CONTROLLED HAMILTONIAN SYSTEMS WITH DISSIPATION",
"authors": [
{
"given": "M.",
"family": "Becherif",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "E.",
"family": "Mendes",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "A recent approach of Passivity-Based Control (PBC) is the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) which is a very useful technique to control systems assigning a desired Port-Controlled Hamiltonian (PCH) structure to the closed-loop. IDA-PBC provides sometimes control laws that are complicated and/or need all state measurement. In this paper, Disturbed-PCHD systems are considered where IDA-PBC is applied. Two sufficient stability conditions on the disturbances are given. Moreover, this approach allows to study controller robustness against parameters uncertainties. This new approach simplify the control law and allows to deal with unmeasured terms. Application of this new approach to the control of the voltage-fed Induction Machine (IM) is presented.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "574--579",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
"keywords": [
"Nonlinear control; Stability analysis; Robustness; Passive; Induction machines"
],
"created_date": "2010-09-07",
"permalink": "stability-and-robustness-of-disturbed-port-controlled-hamiltonian-systems-with-dissipation",
"references": [
{
"identifiers": {},
"citation": "Maschke, Energybased Lyapunov functions for forced Hamiltonian systems with dissipation. IEEE Conf. on Dec. and Contr. (1998)"
},
{
"identifiers": {},
"citation": "Ortega, (1998)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
},
{
"identifiers": {
"doi": "10.1016/0034-4877(94)90038-8"
},
"citation": "Van Der Schaft, A. J. & Maschke, B. M. On the Hamiltonian formulation of nonholonomic mechanical systems. Reports on Mathematical Physics 34, 225–233 (1994)"
}
]
},
{
"id": "8fc81be8-931c-570b-9c91-5f6fe4f96aea",
"identifiers": {
"doi": "10.3182/20050703-6-cz-1902.00795"
},
"type": "journal-article",
"title": "GENERALIZED STATE SPACE AVERAGING FOR PORT CONTROLLED HAMILTONIAN SYSTEMS",
"authors": [
{
"given": "Carles",
"family": "Batlle",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Enric",
"family": "Fossas",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Robert",
"family": "Griñó",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Sonia",
"family": "Martínez",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "Generalized state space averaging (GSSA) is a powerful way to treat analysis and control problems for variable structure systems (VSS). On the other hand, port-controlled Hamiltonian systems (PCHS) describe, in a modular, network-like way, the interconnection of physical systems using the transfer of energy as the unifying concept. In this paper, a relationship between the PCHS structures of a system and its GSSA expansion is established for a class of Hamiltonians (which includes the quadratic ones), and this is used to design controls from a GSSA truncation which, under certain restrictions, can be used for the full original system.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "836--841",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
"keywords": [
"variable structure systems; generalized state space; phase space; converters"
],
"created_date": "2010-09-07",
"permalink": "generalized-state-space-averaging-for-port-controlled-hamiltonian-systems",
"references": [
{
"identifiers": {
"doi": "10.1109/63.737600"
},
"citation": "Caliskan, V. A., Verghese, O. C. & Stankovic, A. M. Multifrequency averaging of DC/DC converters. IEEE Trans. Power Electron. 14, 124–133 (1999)"
},
{
"identifiers": {
"doi": "10.1137/s0363012996312039"
},
"citation": "Dalsmo, M. & van der Schaft, A. On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J. Control Optim. 37, 54–91 (1998)"
},
{
"identifiers": {
"doi": "10.1109/87.930975"
},
"citation": "Escobar, G., Chevreau, D., Ortega, R. & Mendes, E. An adaptive passivity-based controller for a unity power factor rectifier. IEEE Trans. Contr. Syst. Technol. 9, 637–644 (2001)"
},
{
"identifiers": {
"doi": "10.1109/63.53155"
},
"citation": "Krein, P. T., Bentsman, J., Bass, R. M. & Lesieutre, B. L. On the use of averaging for the analysis of power electronic systems. IEEE Trans. Power Electron. 5, 182–190 (1990)"
},
{
"identifiers": {},
"citation": "Kugi, (2001)"
},
{
"identifiers": {
"doi": "10.1109/81.611275"
},
"citation": "Mahdavi, J., Emaadi, A., Bellar, M. D. & Ehsani, M. Analysis of power electronic converters using the generalized state-space averaging approach. IEEE Trans. Circuits Syst. I 44, 767–770 (1997)"
},
{
"identifiers": {
"doi": "10.1109/81.481457"
},
"citation": "Fossas, E. & Olivar, G. Study of chaos in the buck converter. IEEE Trans. Circuits Syst. I 43, 13–25 (1996)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1109/63.76811"
},
"citation": "Sanders, S. R., Noworolski, J. M., Liu, X. Z. & Verghese, G. C. Generalized averaging method for power conversion circuits. IEEE Trans. Power Electron. 6, 251–259 (1991)"
},
{
"identifiers": {
"doi": "10.1109/tcsi.2002.801251"
},
"citation": "Tadmor, G. On approximate phasor models in dissipative bilinear systems. IEEE Trans. Circuits Syst. I 49, 1167–1179 (2002)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
},
{
"identifiers": {},
"citation": "van der Schaft, Port controlled hamiltonian systems: modeling origins and system theoretic properties. Proc. 2nd IFAC Symp. on Nonlinear Control Systems Design (NOLCOS'92). (1992)"
},
{
"identifiers": {},
"citation": "(2001)"
}
]
},
{
"id": "f3639839-b283-5225-a4b5-beb4d62570f8",
"identifiers": {
"doi": "10.3182/20050703-6-cz-1902.01314"
},
"type": "journal-article",
"title": "ROBOTIC MANIPULATION OF A HYPER-FLEXIBLE BODY",
"authors": [
{
"given": "Hiromi",
"family": "Mochiyama",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Hideo",
"family": "Fujimoto",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "A hyper-flexible body is a continuum mechanical object with infinitely many kinematic degrees of freedom which can not be appropriately modeled as elastic bodies nor fluid. In this paper, manipulation of a hyper-flexible body is considered. Although we have only a few control input for the infinite-dimensional system of a hyper-flexible body, we provide an illustrative control example where we can achieve damping injection to a planar cable-like hyper-flexible body by only translational acceleration input at its one end. The control law is derived by the passivity approach based on the port-controlled Hamiltonian system representation.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2005",
"volume": "38",
"issue": "1",
"pages": "265--270",
"publisher": "Elsevier BV",
"event": "16th IFAC World Congress",
"keywords": [
"distributed parameter systems",
"flexible arms",
"mechanical systems",
"nonlinear systems",
"robot control",
"robot dynamics",
"robot kinematics",
"robotics"
],
"created_date": "2010-09-07",
"permalink": "robotic-manipulation-of-a-hyper-flexible-body",
"references": [
{
"identifiers": {},
"citation": "Arisumi, Swing motion control of casting manipulation. IEEE Control Systems (1999)"
},
{
"identifiers": {},
"citation": "Ichikawa, Dynamic manipulation of a string by a robot manipulator (in japanese). Proc. of the 19th Annual Conference of Robotics Society of Japan (2001)"
},
{
"identifiers": {},
"citation": "Khalil, (2002)"
},
{
"identifiers": {},
"citation": "Luo, (1999)"
},
{
"identifiers": {},
"citation": "Michel, (1994)"
},
{
"identifiers": {},
"citation": "Mochiyama, Kinematics and dynamics of a cable-like hyperflexible manipulator. Proc. of the IEEE International Conference on Robotics and Automation (2003)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
},
{
"identifiers": {},
"citation": "Wakamatsu, Planning of one-handded knotting/raveling manipulation of linear ojbects. Proc. of the IEEE International Conference on Robotics and Automation (2004)"
}
]
},
{
"id": "04ba5191-6041-5449-a133-161604cab933",
"identifiers": {
"doi": "10.3182/20060829-3-nl-2908.00101"
},
"type": "journal-article",
"title": "PASSIVITY-BASED CONTROL OF HYBRID SOURCES: FUEL CELL AND BATTERY",
"authors": [
{
"given": "M.",
"family": "Becherif",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
}
],
"abstract": "hybrid system of a fuel cell (FC) and batteries connected to a non-linear load is presented. FC do not work properly under transient conditions. The sharp changes in the load power demand cause sever electrochemical and thermal non-uniformities in FC. These non-uniformities increase the degradation rate of FC and reduce its expected life span. To mitigate these detrimental effects, a battery bank is used along with FC. This paper deals with the state space modeling of the hybrid system, and the control of the DC Bus voltage by the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC). IDA-PBC is a useful technique to control systems assigning a desired Port-Controlled Hamiltonian (PCH) structure to the closed-loop. The global stability proof and simulation results are presented.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2006",
"volume": "39",
"issue": "12",
"pages": "585--590",
"publisher": "Elsevier BV",
"event": "11th IFAC Symposium on Control in Transportation Systems",
"keywords": [
"fuel cell",
"hybrid vehicles",
"interconnection and damping",
"passive"
],
"created_date": "2010-09-01",
"permalink": "passivity-based-control-of-hybrid-sources-fuel-cell-and-battery",
"references": []
},
{
"id": "9c41b5ce-62f0-5327-ac3a-4c34100cd709",
"identifiers": {
"doi": "10.3182/20060906-3-it-2910.00080"
},
"type": "journal-article",
"title": "VARIABLE DELAY IN SCALED PORT-HAMILTONIAN TELEMANIPULATION",
"authors": [
{
"given": "C.",
"family": "Secchi",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "S.",
"family": "Stramigioli",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "C.",
"family": "Fantuzzi",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In several applications involving bilateral telemanipulation, master and slave act at different power scales. In this paper a strategy for passively dealing with variable communication delay in scaled port-Hamiltonian based telemanipulation over packet switched networks is proposed.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2006",
"volume": "39",
"issue": "15",
"pages": "476--481",
"publisher": "Elsevier BV",
"event": "8th IFAC Symposium on Robot Control",
"keywords": [
"Telemanipulation; port-Hamiltonian systems; variable delay"
],
"created_date": "2010-09-01",
"permalink": "variable-delay-in-scaled-port-hamiltonian-telemanipulation0",
"references": [
{
"identifiers": {
"doi": "10.1109/9.24201"
},
"citation": "Anderson, R. J. & Spong, M. W. Bilateral control of teleoperators with time delay. IEEE Trans. Automat. Contr. 34, 494–501 (1989)"
},
{
"identifiers": {
"doi": "10.1109/robot.2004.1302439"
},
"citation": "Boukhnifer, M., Ferreira, A. & Fontaine, J.-G. Scaled teleoperation controller design for micromanipulation over Internet. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA ’04. 2004 4577-4583 Vol.5 (2004) doi:10.1109/robot.2004.1302439"
},
{
"identifiers": {
"doi": "10.1109/48.64895"
},
"citation": "Niemeyer, G. & Slotine, J.-J. E. Stable adaptive teleoperation. IEEE J. Oceanic Eng. 16, 152–162 (1991)"
},
{
"identifiers": {
"doi": "10.1109/iros.2005.1545405"
},
"citation": "Secchi, C., Stramigioli, S. & Fantuzzi, C. Transparency in port-Hamiltonian based telemanipulation. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems 1844–1849 (2005) doi:10.1109/iros.2005.1545405"
},
{
"identifiers": {
"doi": "10.1109/cca.2005.1507145"
},
"citation": "Secchi, C., Stramigioli, S. & Fantuzzi, C. The Problem of Packets Loss in Scaled Digital Port-Hamiltonian Based Bilateral Telemanipulation. Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005. 322–327 (2005) doi:10.1109/cca.2005.1507145"
},
{
"identifiers": {
"doi": "10.1109/iros.2005.1545405"
},
"citation": "Secchi, C., Stramigioli, S. & Fantuzzi, C. Transparency in port-Hamiltonian based telemanipulation. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems 1844–1849 (2005) doi:10.1109/iros.2005.1545405"
},
{
"identifiers": {
"doi": "10.1109/tra.2002.802200"
},
"citation": "Stramigioli, S., van der Schaft, A., Maschke, B. & Melchiorri, C. Geometric scattering in robotic telemanipulation. IEEE Trans. Robot. Automat. 18, 588–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tro.2004.842330"
},
"citation": "Stramigioli, S., Secchi, C., van der Schaft, A. J. & Fantuzzi, C. Sampled data systems passivity and discrete port-Hamiltonian systems. IEEE Trans. Robot. 21, 574–587 (2005)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
}
]
},
{
"id": "a11b9e30-029d-518c-8172-054df09b466a",
"identifiers": {
"doi": "10.3182/20060906-3-it-2910.00092"
},
"type": "journal-article",
"title": "CONTROL OF PORT HAMILTONIAN SYSTEMS BY DISSIPATIVE DEVICES AND ITS APPLICATION TO IMPROVE THE SEMI-ACTIVE SUSPENSION BEHAVIOUR",
"authors": [
{
"given": "Riccardo",
"family": "Morselli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Roberto",
"family": "Zanasi",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "The port Hamiltonian framework is a powerful tool for modeling a wide class of nonlinear systems such as robots and, more generally, mechatronic systems. A wide variety of mechatronic systems are controlled by operating dissipative components and the standard approaches for the control of port Hamiltonian systems are not applicable. Facing the limitation that the controlled devices can only dissipate power, the issue is to find a proper control law to satisfy the control requirements. This paper proposes to choose the control inputs to lead the input power of a subsystem in oder to satisfy the requirements by controlling the energy stored or the power dissipated in that subsystem. A slight extension of the definition of port Hamiltonian system is proposed to allow the description of a larger set of mechatronic systems. Although some important issues remain open, the example of the semi-active suspension shows that some positive results can be achieved by applying the proposed approach.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2006",
"volume": "39",
"issue": "15",
"pages": "548--553",
"publisher": "Elsevier BV",
"event": "8th IFAC Symposium on Robot Control",
"keywords": [
"Nonlinear control; automotive control; semi-active suspension"
],
"created_date": "2010-09-01",
"permalink": "control-of-port-hamiltonian-systems-by-dissipative-devices-and-its-application-to-improve-the-semi-active-suspension-behaviour0",
"references": [
{
"identifiers": {
"doi": "10.1016/s0005-1098(98)00196-4"
},
"citation": "Escobar, G., van der Schaft, A. J. & Ortega, R. A Hamiltonian viewpoint in the modeling of switching power converters. Automatica 35, 445–452 (1999)"
},
{
"identifiers": {
"doi": "10.3182/20050703-6-cz-1902.00709"
},
"citation": "Garcia–Canseco, E., Pasumarthy, R., van der Schaft, A. & Ortega, R. ON CONTROL BY INTERCONNECTION OF PORT HAMILTONIAN SYSTEMS. IFAC Proceedings Volumes 38, 330–335 (2005)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tcst.2004.833628"
},
"citation": "Perez, M., Ortega, R. & Espinoza, J. Passivity-Based PI Control of Switched Power Converters. IEEE Trans. Contr. Syst. Technol. 12, 881–890 (2004)"
},
{
"identifiers": {},
"citation": "Savaresi, On performance evaluation methods and control strategies for semi-active suspension systems. Proceedings 42nd IEEE Conference on Decision and Control (2003)"
},
{
"identifiers": {
"doi": "10.1016/s1474-6670(17)30401-9"
},
"citation": "Savaresi, S. M., Silani, E. & Bittanti, S. Semi-Active Suspensions: An Optimal Control Strategy for a Quarter-Car Model. IFAC Proceedings Volumes 37, 553–558 (2004)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
}
]
},
{
"id": "f145120f-229d-5c12-938d-84aa13e2aeac",
"identifiers": {
"doi": "10.3182/20070709-3-ro-4910.00033"
},
"type": "journal-article",
"title": "ON BOARD ENERGY SYSTEM BASED ON BATTERIES AND SUPERCAPACITORS",
"authors": [
{
"given": "C.",
"family": "Lungoci",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "M.",
"family": "Becherif",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "A.",
"family": "Miraoui",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "E.",
"family": "Helerea",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "The on-board energy system permits the storage/delivery energy in electrical vehicles. It can use different energy devices working together, like batteries and supercapacitors. The energetic performances of batteries make them efficient, but for supplying pulsating loads, supercapacitors must be added. In this paper, the design of the system is presented and the dynamic model is described using the Port-Hamiltonian formalism. The Passivity-Based Control strategy is proposed according to achieve the best energy management of the system. Simulation results of the system processes are presented in order to prove that the model and the control strategy applied can ensure the global system stability.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2007",
"volume": "40",
"issue": "8",
"pages": "197--202",
"publisher": "Elsevier BV",
"event": "1st IFAC Workshop on Convergence of Information Technologies and Control Methods with Power Plants and Power Systems",
"keywords": [
"batteries",
"electrical vehicle",
"passivity-based control",
"supercapacitors"
],
"created_date": "2010-09-01",
"permalink": "on-board-energy-system-based-on-batteries-and-supercapacitors",
"references": [
{
"identifiers": {
"doi": "10.1109/iccep.2007.384186"
},
"citation": "Becherif, M., Ayad, M. Y., Djerdir, A. & Miraoui, A. Electrical Train Feeding By Association Of Supercapacitors, Photovoltaic And Wind Generators. 2007 International Conference on Clean Electrical Power 55–60 (2007) doi:10.1109/iccep.2007.384186"
},
{
"identifiers": {
"doi": "10.1109/ias.2006.256675"
},
"citation": "Becherif, M., Ayad, M. & Miraoui, A. Modeling and Passivity-Based Control of Hybrid Sources: Fuel Cell and Supercapacitors. Conference Record of the 2006 IEEE Industry Applications Conference Forty-First IAS Annual Meeting vol. 3 1134–1139 (2006)"
},
{
"identifiers": {
"doi": "10.1109/ipemc.2006.4778037"
},
"citation": "Camara, M. B., Gualous, H., Gustin, F. & Berthon, A. Control strategy of Hybrid sources for Transport applications using supercapacitors and batteries. 2006 CES/IEEE 5th International Power Electronics and Motion Control Conference 1–5 (2006) doi:10.1109/ipemc.2006.4778037"
},
{
"identifiers": {},
"citation": "Lungoci, Modeling and simulation of the energy supply-motor system for an electric vehicle. (2006)"
},
{
"identifiers": {},
"citation": "Macchelli, (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.jpowsour.2006.12.021"
},
"citation": "Rafik, F., Gualous, H., Gallay, R., Crausaz, A. & Berthon, A. Frequency, thermal and voltage supercapacitor characterization and modeling. Journal of Power Sources 165, 928–934 (2007)"
}
]
},
{
"id": "3bde008a-1699-53fa-8ba9-580689dfdcc2",
"identifiers": {
"doi": "10.3182/20070821-3-ca-2919.00036"
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"type": "journal-article",
"title": "DAMPING INJECTION CONTROL OF WINDING SYSTEMS BASED ON PORT CONTROLLED HAMILTONIAN SYSTEMS",
"authors": [
{
"given": "Fouad",
"family": "Mokhtari",
"literal": null,
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{
"given": "Pierre",
"family": "Sicard",
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"given": "Nicolas",
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"abstract": "In web and metal sheet processing systems and winders, flexibility of the web is a source of vibrations and resonance amongst motor drives. Port-Controlled Hamiltonian with Dissipation (PCHD) modelling is considered to develop stabilization strategies with a physical interpretation and motivation of the control action. A web transport system is modelled as a PCHD system and the control action is defined to obtain asymptotically stable operating points for the controlled system by a passivity argument. The controller negative output feedback gain matrix is interpreted as the realization of virtual dampers added to the system.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2007",
"volume": "40",
"issue": "11",
"pages": "243--248",
"publisher": "Elsevier BV",
"event": "12th IFAC Symposium on Automation in Mining, Mineral and Metal Processing",
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"Multimachine; Interaction mechanism; Interconnexion matrices; Transient oscillations; Damping; Disturbance rejection; Transient energy transfers"
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"identifiers": {},
"citation": "Åström, (2000)"
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{
"identifiers": {
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},
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},
{
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},
{
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},
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},
{
"identifiers": {
"doi": "10.1109/87.987065"
},
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},
{
"identifiers": {
"doi": "10.1109/cca.2001.973992"
},
"citation": "Laroche, E., Koc, H., Knittel, D. & De Mathelin, M. Web winding system robustness analysis via μ-analysis. Proceedings of the 2001 IEEE International Conference on Control Applications (CCA’01) (Cat. No.01CH37204) 948–953 doi:10.1109/cca.2001.973992"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tac.2002.800770"
},
"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tcst.2006.883345"
},
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},
{
"identifiers": {},
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},
{
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},
{
"identifiers": {
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},
"citation": "Thiffault, C., Sicard, P. & Bouscayrol, A. Desensitization to voltage sags of a rewinder by using an active dancer roll for tension control. IEEE International Conference on Electric Machines and Drives, 2005. 466–473 (2005) doi:10.1109/iemdc.2005.195764"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1109/tcst.2003.813404"
},
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}
]
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"doi": "10.3182/20070822-3-za-2920.00005"
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"type": "journal-article",
"title": "CONTROL BY (STATE–MODULATED) INTERCONNECTION OF PORT–HAMILTONIAN SYSTEMS",
"authors": [
{
"given": "Romeo",
"family": "Ortega",
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}
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{
"given": "Arjan",
"family": "van der Schaft",
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{
"given": "Fernando",
"family": "Castaños",
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"given": "Alessandro",
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"abstract": "It is well known that the dynamics of many physical processes can be suitably described by Port–Hamiltonian (PH) models. In this paper we consider the Passivity–Based Control (PBC) technique of Control by Interconnection (CbI), where the controller is another PH system connected to the plant to add up their energy functions. We propose two extensions to this method, first, we exploit the non–uniqueness of the PH representation of the system to generate new cyclo–passive outputs. Applying CbI through these new port variables overcomes the so–called dissipation obstacle. Second, when the plant state variables are measurable, we show that the conditions for applicability of the method can be relaxed replacing the simple unitary feedback by a state–modulated interconnection. A central contribution of the paper is the proof that the conditions for energy shaping via CbI are equivalent to those imposed in Interconnection and Damping Assignment PBC, providing in this way a nice geometric interpretation to this successful controller design technique.",
"container_title": "IFAC Proceedings Volumes",
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"volume": "40",
"issue": "12",
"pages": "28--35",
"publisher": "Elsevier BV",
"event": "7th IFAC Symposium on Nonlinear Control Systems",
"keywords": [
"Passivity; nonlinear systems; stabilization; interconnection; passivity–based control; Hamiltonian systems"
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"references": [
{
"identifiers": {},
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
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},
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{
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},
{
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},
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},
{
"identifiers": {
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},
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{
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{
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},
{
"identifiers": {
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tac.2003.817918"
},
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},
{
"identifiers": {
"doi": "10.1109/tac.2002.800770"
},
"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
},
{
"identifiers": {
"doi": "10.1007/bf00276493"
},
"citation": "Willems, J. C. Dissipative dynamical systems part I: General theory. Arch. Rational Mech. Anal. 45, 321–351 (1972)"
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"doi": "10.3182/20070822-3-za-2920.00027"
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"type": "journal-article",
"title": "PORT-BASED FINITE ELEMENT MODEL OF A FLEXIBLE LINK",
"authors": [
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"given": "Alessandro",
"family": "Macchelli",
"literal": null,
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"given": "Stefano",
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{
"given": "Claudio",
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"abstract": "In this paper, the finite element approximation of the dynamics of a flexible link is discussed. The starting point is a model in distributed port Hamiltonian form that, differently from the Euler-Bernoulli or Timoshenko beam, is able to describe large deflections in 3-D space. The spatial discretization technique is based on physical considerations so that, by exploiting the geometric structure of a distributed port Hamiltonian system, a finite dimensional approximation still in port Hamiltonian form that obeys to the same energy balance relation of its infinite dimensional counterpart can be obtained.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2007",
"volume": "40",
"issue": "12",
"pages": "158--163",
"publisher": "Elsevier BV",
"event": "7th IFAC Symposium on Nonlinear Control Systems",
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"flexible arms"
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"references": [
{
"identifiers": {},
"citation": "Bassi, An algorithm to discretize one–dimensional distributed port hamiltonian systems. (2006)"
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{
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"citation": "Bossavit, Differential forms and the computation of fields and forces in electromagnetism. European Journal of Mechanics, B/Fluids (1991)"
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{
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"citation": "Golo, Hamiltonian formulation of planar beams. (2003)"
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{
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"doi": "10.1016/j.automatica.2003.12.017"
},
"citation": "Golo, G., Talasila, V., van der Schaft, A. & Maschke, B. Hamiltonian discretization of boundary control systems. Automatica 40, 757–771 (2004)"
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{
"identifiers": {},
"citation": "Macchelli, Port-based modelling of a flexible link. (2006)"
},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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{
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"citation": "van der Schaft, (2000)"
},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
}
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"doi": "10.3182/20070927-4-ro-3905.00042"
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"title": "APPROXIMATION OF THE TELEGRAPHER'S EQUATIONS WITH DISSIPATION",
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{
"given": "C.",
"family": "Chera",
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"source_fields": {
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},
{
"given": "A.",
"family": "Nakrachi",
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{
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"abstract": "We have already proposed a representation and spatial discretization of line transmission in terms of Bond Graph (Nakrachi, 2003). In this paper, one shows that we preserve the Dirac structure of a distributed parameter system represented in the form of a port-Hamiltonian, after a space discretization. Indeed, the conservation of the Dirac structure was shown only in the conservative case, without dissipation. The study is applied to the case of a transmission line represented by the telegrapher's equations.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2007",
"volume": "40",
"issue": "18",
"pages": "247--252",
"publisher": "Elsevier BV",
"event": "4th IFAC Conference on Management and Control of Production and Logistics",
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"citation": "Bossavit, (1991)"
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{
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"citation": "Golo, “Approximation of the telegrapher's equations”. (2002)"
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{
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"doi": "10.1016/j.automatica.2003.12.017"
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"citation": "Golo, G., Talasila, V., van der Schaft, A. & Maschke, B. Hamiltonian discretization of boundary control systems. Automatica 40, 757–771 (2004)"
},
{
"identifiers": {
"doi": "10.1007/11334774_4"
},
"citation": "Maschke, B. & van der Schaft, A. 4 Compositional Modelling of Distributed-Parameter Systems. Lecture Notes in Control and Information Sciences 115–154 (2005) doi:10.1007/11334774_4"
},
{
"identifiers": {},
"citation": "Nakrachi, “Bond Graph for distributed parameter systems: The telegrapher equation case” IMACS-IEEE “CESA'03”. Lille (2003)"
},
{
"identifiers": {
"doi": "10.1007/978-3-7091-2774-2_9"
},
"citation": "Schaft, A. J. Port-Hamiltonian Systems: Network Modeling and Control of Nonlinear Physical Systems. Advanced Dynamics and Control of Structures and Machines 127–167 (2004) doi:10.1007/978-3-7091-2774-2_9"
}
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"title": "ON SOME DISSIPATIVITY PROPERTIES OF A CLASS OF POWER SYSTEM MODELS",
"authors": [
{
"given": "Alvaro",
"family": "Giusto",
"literal": null,
"source_fields": {
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],
"abstract": "This paper studies the dissipativity properties of a class of power system models, characterized by the absence of resistive loads and leaky lines. A Port-Controlled Hamiltonian (PCH) representation is given for each component of the network and its dissipativity properties are shown. The linear model around the equilibrium is shown to meet a convex condition in the frequency domain, able to be exploited in the stability analysis of interconnected systems. The application of this property to a classical example shows that it can be computationally exploited even in the case of non-idealized models.",
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"publication_year": "2007",
"volume": "40",
"issue": "20",
"pages": "262--267",
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{
"identifiers": {
"doi": "10.1109/cdc.2006.376967"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/0016-0032(80)90026-5"
},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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{
"identifiers": {
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},
{
"identifiers": {},
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{
"identifiers": {
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{
"identifiers": {
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}
]
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"doi": "10.3182/20080706-5-kr-1001.00313"
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"type": "journal-article",
"title": "Tracking Control for Port-Hamiltonian Systems using Feedforward and Feedback Control and a State Observer",
"authors": [
{
"given": "Richard",
"family": "Stadlmayr",
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{
"given": "Kurt",
"family": "Schlacher",
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"abstract": "This contribution is about the combination of a feedforward and a feedback controller and a reduced state observer in order to stabilize the trajectories of a nonlinear plant. Port-Hamiltonian systems provide some special mathematical properties and have turned out beneficial for the stability analysis of nonlinear control systems. The combination of a feedforward and feedback controller allows us to achieve good tracking and the rejection of disturbances and parameter variations. In addition the extension of the nonlinear control scheme with a state observer allows a reduction of the number of measured quantities. This approach will be shown for the example Ball on the Wheel.",
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"publication_year": "2008",
"volume": "41",
"issue": "2",
"pages": "1833--1838",
"publisher": "Elsevier BV",
"event": "17th IFAC World Congress",
"keywords": [
"Nonlinear Control; Port-Hamiltonian Systems; Output Tracking; Mechatronics"
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{
"identifiers": {
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{
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{
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},
{
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{
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},
{
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
}
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"doi": "10.3182/20080706-5-kr-1001.00388"
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"type": "journal-article",
"title": "Multi-Scale Distributed Port-Hamiltonian Representation of Ionic Polymer-Metal Composite",
"authors": [
{
"given": "Gou",
"family": "Nishida",
"literal": null,
"source_fields": {
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}
},
{
"given": "Kentaro",
"family": "Takagi",
"literal": null,
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}
},
{
"given": "Bernhard",
"family": "Maschke",
"literal": null,
"source_fields": {
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}
},
{
"given": "Zhi-wei",
"family": "Luo",
"literal": null,
"source_fields": {
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"affiliation": []
}
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"abstract": "This paper shows that one of soft actuators, Ionic Polymer-Metal Composite (IPMC) can be modeled in terms of distributed port-Hamiltonian systems with multi-scale. The physical structure of IPMC consists of three parts. The first part is an electric double layer at the interface between the polymer and the metal electrodes. The frequency response of the polymer-metal interface shows a fractal degree of gain slope. Then we adopt a black-box circuit model to this part and give considerations for distributed impedance parameters. The second part is an electrostress diffusion coupling model with bending and relaxation dynamics. This part is represented by an electro-osmosis, which is a water transport by an electric field, and a streaming potential, which is an electric field created by a water transport. We discuss the relationship of stress and bending moment induced by swelling. The third part is a mechanical system modeled as a flexible beam with large deformations. The representation has the capability extracting the control structure based on passivity from distributed parameter systems possessing a complex behavior.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2008",
"volume": "41",
"issue": "2",
"pages": "2300--2305",
"publisher": "Elsevier BV",
"event": "17th IFAC World Congress",
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"Modeling; Design methodologies"
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"references": [
{
"identifiers": {
"doi": "10.1088/0964-1726/10/4/327"
},
"citation": "Shahinpoor, M. & Kim, K. J. Ionic polymer-metal composites: I. Fundamentals. Smart Mater. Struct. 10, 819–833 (2001)"
},
{
"identifiers": {},
"citation": "Asaka, Modeling of the electromechanical response of ionic polymer metal composites (IPMC). Pro. of SPIE, Smart Structures and Materials 2004: Electroactive Polymer Actuators and Devices (EAPAD) (2004)"
},
{
"identifiers": {},
"citation": "Takagi, Limitedangle motor using ionic polymer metal composite. Proc. of SPIE, Smart Structures and Materials 2005: Electroactive Polymer Actuators and Devices (EAPAD) (2005)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1021/ma047944j"
},
"citation": "Yamaue, T., Mukai, H., Asaka, K. & Doi, M. Electrostress Diffusion Coupling Model for Polyelectrolyte Gels. Macromolecules 38, 1349–1356 (2005)"
},
{
"identifiers": {},
"citation": "Yi, Modeling of EAPs as Multiple Energy Domain Systems: A Bond Graph Approach. Proc. of SPIE, Smart Structures and Materials 2006, Electroactive Polymer Actuators and Devices (EAPAD) (2006)"
},
{
"identifiers": {
"doi": "10.1209/epl/i2000-00299-3"
},
"citation": "Gennes, P. G. de, Okumura, K., Shahinpoor, M. & Kim, K. J. Mechanoelectric effects in ionic gels. Europhys. Lett. 50, 513–518 (2000)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
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},
{
"identifiers": {
"doi": "10.1109/cca.2005.1507190"
},
"citation": "Gou Nishida & Yamakita, M. Distributed port hamiltonian formulation of flexible beams under large deformations. Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005. 589–594 doi:10.1109/cca.2005.1507190"
},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "Franco, In Multi-scale Bond graph model of the electrochemical dynamics in a fuel cell. (2006)"
},
{
"identifiers": {},
"citation": "Maschke, (2005)"
},
{
"identifiers": {},
"citation": "(2004)"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
},
{
"identifiers": {
"doi": "10.1007/bfb0110389"
},
"citation": "Stramigioli, S. Geometric modeling of mechanical systems for interactive control. Lecture Notes in Control and Information Sciences 309–332 doi:10.1007/bfb0110389"
},
{
"identifiers": {
"doi": "10.1007/1-84628-577-1_13"
},
"citation": "Ortega, R., van der Schaft, A. J. & Maschke, B. M. Stabilization of port-controlled Hamiltonian systems via energy balancing. Lecture Notes in Control and Information Sciences 239–260 (1999) doi:10.1007/1-84628-577-1_13"
},
{
"identifiers": {},
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}
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"doi": "10.3182/20080706-5-kr-1001.00637"
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"type": "journal-article",
"title": "FEEDBACK STABILIZATION OF THE TORA SYSTEM VIA INTERCONNECTION AND DAMPING ASSIGNMENT CONTROL",
"authors": [
{
"given": "Atilio",
"family": "Morillo",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Miguel",
"family": "Ríos-Bolívar",
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{
"given": "Vivian",
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"abstract": "In this work, we consider the feedback stabilization problem of the so-called Translational Oscillator with a Rotational Actuator (TORA) system by applying the Interconnection and Damping Assignment (IDA) control methodology. To achieve this goal, the mechanical system is firstly transformed into the general port controlled Hamiltonian form and, then, the IDA design procedure is applied to synthesize the stabilizing control law. The Hamiltonian structure of the closed loop system is preserved and asymptotic stability of the mechanical position is achieved, which is verified by digital simulations.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2008",
"volume": "41",
"issue": "2",
"pages": "3781--3786",
"publisher": "Elsevier BV",
"event": "17th IFAC World Congress",
"keywords": [
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"nonlinear system control"
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1002/rnc.1088"
},
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},
{
"identifiers": {},
"citation": "Olfati-Saber, (2001)"
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{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2005.1582306"
},
"citation": "Pavlov, A., Janssen, B., van de Wouw, N. & Nijmeijer, H. Experimental output regulation for the TORA system. Proceedings of the 44th IEEE Conference on Decision and Control 1108–1113 doi:10.1109/cdc.2005.1582306"
}
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{
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"doi": "10.3182/20080706-5-kr-1001.01047"
},
"type": "journal-article",
"title": "A Class of Nonlinear RLC Circuits Globally Stabilizable by Proportional plus Integral Controllers",
"authors": [
{
"given": "Fernando",
"family": "Castaños",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Bayu",
"family": "Jayawardhana",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
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{
"given": "Romeo",
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{
"given": "Eloísa",
"family": "García-Canseco",
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"abstract": "In this note we identify graph-theoretic conditions which allow to write an RLC circuit as port-Hamiltonian with constant input matrices. We show that under additional monotonicity conditions of the network's components, the circuit enjoys the property of relative passivity, an extended notion of classical passivity. The property of relative passivity is then used to build simple, yet robust and globally stable, Proportional plus Integral controllers.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2008",
"volume": "41",
"issue": "2",
"pages": "6202--6207",
"publisher": "Elsevier BV",
"event": "17th IFAC World Congress",
"keywords": [
"nonlinear networks",
"passivity",
"port-hamiltonian systems",
"stability",
"stabilization"
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"created_date": "2010-09-01",
"permalink": "a-class-of-nonlinear-rlc-circuits-globally-stabilizable-by-proportional-plus-integral-controllers",
"references": [
{
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{
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},
{
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"identifiers": {
"doi": "10.3182/20080706-5-kr-1001.02650"
},
"type": "journal-article",
"title": "Port-based Simulation of Flexible Multi-body Systems",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Claudio",
"family": "Melchiorri",
"literal": null,
"source_fields": {
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"affiliation": []
}
}
],
"abstract": "This paper is devoted to simulation aspects of complex multi-body systems resulting from the interconnection of rigid and flexible links. This work is the natural complement of Macchelli et al. [2006, 2007a], in which only the mathematical modeling aspects of such kind of devices have been discussed. This paper tries to show how the port Hamiltonian framework can be instrumental also for the easy implementation of efficient simulations if proper packages able to deal with the a-causality of port-based modeling techniques are used. In fact, once the main components (i.e. rigid and flexible links and kinematic pairs) have been created, the complete model just follows by port interconnection in a plug-and-play fashion. Then, it is the simulation engine that solves the causality of the overall scheme and generate the simulation code. The main steps are illustrated in detail with an example.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2008",
"volume": "41",
"issue": "2",
"pages": "15672--15677",
"publisher": "Elsevier BV",
"event": "17th IFAC World Congress",
"keywords": [
"flexible robots",
"modeling",
"port hamiltonian systems",
"robot dynamics",
"simulation"
],
"created_date": "2010-09-01",
"permalink": "port-based-simulation-of-flexible-multi-body-systems",
"references": [
{
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{
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{
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},
{
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},
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},
{
"identifiers": {
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{
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{
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{
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{
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{
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{
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{
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},
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}
]
},
{
"id": "3a1b5b65-f454-57ab-92c5-e525cc095aef",
"identifiers": {
"doi": "10.3182/20090909-4-jp-2010.00084"
},
"type": "journal-article",
"title": "Port-Based Modeling and Optimal Control for a new Very Versatile Energy Efficient Actuator",
"authors": [
{
"given": "Oscar",
"family": "Gerelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Raffaella",
"family": "Carloni",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Stefano",
"family": "Stramigioli",
"literal": null,
"source_fields": {
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"affiliation": []
}
}
],
"abstract": "In this paper, we analyze in depth the innovative very versatile and energy efficient (V2E2) actuator proposed in Stramigioli et al. (2008). The V2E2 actuator is intended to be used in all kind of robotics and powered prosthetic applications in which energy consumption is a critical issue. In particular, this work focuses on the development of a port-based Hamiltonian model of the V2E2 and presents an optimal control architecture which exploits the intrinsic hybrid characteristics of the actuator design. The optimal control guarantees the minimization of dissipative power losses during torque tracking transients.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2009",
"volume": "42",
"issue": "16",
"pages": "493--498",
"publisher": "Elsevier BV",
"event": "9th IFAC Symposium on Robot Control",
"keywords": [],
"created_date": "2011-03-16",
"permalink": "port-based-modeling-and-optimal-control-for-a-new-very-versatile-energy-efficient-actuator",
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{
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{
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},
{
"id": "ab6b6d56-13c9-5849-a5b6-ee20eb4d5f5a",
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"doi": "10.3182/20100705-3-be-2011.00118"
},
"type": "journal-article",
"title": "Hamiltonian formulation and IDA-PBC control of non isothermal continuous stirred tank reactors",
"authors": [
{
"given": "H.",
"family": "Hoang",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "F.",
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"source_fields": {
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"affiliation": []
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{
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},
{
"given": "Y. Le",
"family": "Gorrec",
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"abstract": "The authors have introduced stochastic port-Hamiltonian systems and have clarified some of their properties. Stochastic port-Hamiltonian systems are extension of deterministic port-Hamiltonian systems, which are used to express various deterministic passive systems. However, since only time-invariant case has been considered in our previous results, the aim of this paper is to extend them to time-varying case. Finally, we propose a stabilization method based on passivity and the stochastic generalized canonical transformation, which is a pair of coordinate and feedback transformations preserving the stochastic Hamiltonian structure.",
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"title": "Hamiltonian approach to the stabilization of systems of two conservation laws",
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"given": "V. Dos Santos",
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"abstract": "This paper aims at providing some synthesis between two alternative representations of systems of two conservation laws and interprets different conditions on stabilizing boundary control laws. The first is the representation in Riemann invariants coordinates whose representation has been applied successfully for the stabilization of linear and non-linear of such hyperbolic systems. The second representation is based on physical modelling and leads to port Hamiltonian systems which are extensions of infinite-dimensional Hamiltonian systems defined on Dirac structure. The stability conditions on the boundary feedback relations derived with respect to the Riemann invariants are interpreted in terms of the dissipation inequality of the Hamiltonian functional.",
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"title": "Reaction-Diffusion Systems in the Port-Hamiltonian Framework",
"authors": [
{
"given": "Marko",
"family": "Šešlija",
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{
"given": "Arjan",
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"given": "Jacquelien M.A.",
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"abstract": "Reaction-diffusion systems model the evolution of the constituents distributed in space under the influence of chemical reactions and diffusion. These systems arise naturally in chemistry, but can also be used to model dynamical processes beyond the realm of chemistry such as in biology, ecology, geology, and physics. In this paper, by adopting the viewpoint of port-based modeling, we cast reaction-diffusion systems into the port-Hamiltonian framework. Aside from offering conceptually a clear geometric interpretation formalized by a Stokes-Dirac structure, a port-Hamiltonian perspective allows to treat these dissipative systems as interconnected and thus makes their analysis, both quantitative and qualitative, more accessible from a modern dynamical systems and control theory point of view. This modeling approach permits us to draw immediately some conclusions regarding passivity and stability of reaction-diffusion systems. Furthermore, by adopting a discrete differential geometry-based approach and discretizing the reaction-diffusion system in the port-Hamiltonian form, apart from preserving a geometric structure, a compartmental model analogous to the standard one is obtained.",
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"title": "Passivity-based control of spatially discretized port-Hamiltonian system",
"authors": [
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"given": "Alessandro",
"family": "Macchelli",
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{
"given": "Claudio",
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"abstract": "The main contribution of this paper is a procedure for the passivity-based control of high-order port-Hamiltonian systems obtained from the spatial discretization of infinite dimensional dynamics. Beside the intrinsic difficulties related to the large number of state variables, the finite element model is generally given in terms of a Dirac structure and is completely a-causal, which implies that the plant dynamics is not given in standard input-state-output form, but as a set of DAEs. Consequently, the passivity-based methods have to be extended in order to deal with dynamical systems with constraints, usually appearing in the form of Lagrangian multipliers.",
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{
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{
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{
"identifiers": {
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},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
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"doi": "10.3182/20100901-3-it-2016.00194"
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"type": "journal-article",
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{
"given": "H.",
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"abstract": "This paper proposes a thermodynamically consistent pseudo Hamiltonian formulation of Continuous Stirred Tank Reactor model in which takes place one general reaction scheme. This is done both in the isothermal and non isothermal cases. It is shown that Gibbs free energy and opposite of entropy can be chosen as Hamiltonian function respectively. For the non isothermal case, the so called Interconnection and Damping Assignment Passivity Based Control method is applied. Even for a general reaction the control problem is shown to be easy to solve as soon as closed loop hamiltonian function is chosen to be proportional to the so called thermodynamic Availability function.",
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{
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"abstract": "We present in this paper a control algorithm for the open irrigation channel using an obtained reduced port hamiltonian model of shallow water equations. This control is designed using the Casimir's invariant based energy shaping method associated with a particular conservative interconnection between the boundary variables. Some experimental results obtained on a micro canal show the effectiveness of the control.",
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"abstract": "This paper illustrates a model reduction procedure for port Hamiltonian systems able to preserve the frequency behavior of the original system in a neighborhood of a predefined set of frequencies of interest. This research is part of a wider activity carried out in collaboration with Tetra Pak concerning the modelling and simulation of the Ultrasonic Sealing System (USTS). Due to the presence of a Compact Transducer (CT) that can be modelled only by means of commercial finite element CAE software, which provide extremely high-order dynamical systems, it is not possible to perform a simulation of the complete system to test the validity of the controller and perform the diagnosis of the sealing process in detail. The proposed procedure drastically reduces the simulation time without loosing the essential dynamical information. The model reduction algorithm is experimentally validated.",
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{
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"given": "A.",
"family": "Venkatraman",
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"abstract": "We consider port-Hamiltonian system models whose underlying geometric structure is the Dirac structure which consists of energy storing ports, resistive ports and external ports which are interconnected to each other by a power conserving relationship. A port-Hamiltonian system with dissipation (PHSD) is formed by the composition of a Dirac and a resistive structure. We show how the choice of a new passive output for a PHSD is reflected in a new Dirac structure. We generate a new class of passive outputs for a PHSD by changing the Hamiltonian function, interconnection and damping matrices and subsequently compute the new underlying Dirac structure. We next consider power conserving interconnections of two port-Hamiltonian systems and extend the (well known) standard feedback interconnection by considering interconnections between port-Hamiltonian systems which involve their energy storing ports, resistive ports and external ports. For port-Hamiltonian systems with dissipation, we demonstrate how these interconnections can be used for their closed-loop stabilization by the control-by-interconnection (CbI) method. Finally, we discuss the similarities between our (new) control by interconnection method and the (well-known) interconnection and damping assignment passivity-based control (IDA-PBC) method.",
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"publication_year": "2010",
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"issue": "14",
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{
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{
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{
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{
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},
{
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{
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"abstract": "Directed graphs are shown to be endowed with a canonical Dirac structure, which is used for formulating standard consensus and coordination control algorithms as port-Hamiltonian systems.",
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{
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{
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},
{
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{
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"type": "journal-article",
"title": "Port-Hamiltonian Theory of Motion Control for Marine Craft",
"authors": [
{
"given": "Alejandro",
"family": "Donaire",
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{
"given": "Tristan",
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"abstract": "Port-Hamiltonian Systems (PHS) have a particular form that incorporates explicitly a function of the total energy in the system (energy function) and also other functions that describe structure of the system in terms of energy distribution. For PHS, the product of the input and output variables gives the rate of energy change. This type of systems have the property that under certain conditions on the energy function, the system is passive; and thus, stable. Therefore, if one can design a controller such that the closed-loop system retains—or takes—a PHS form, such closed-loop system will inherit the properties of passivity and stability. In this paper, the classical model of marine craft is put into a PHS form. It is shown that models used for positioning control do not have a PHS form due to a kinematic transformation, but a control design can be done such that the closed-loop system takes a PHS form. It is further shown how integral action can be added and how the PHS-form can be exploited to provide a procedure for control design that ensures passivity and thus stability.",
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"publication_year": "2010",
"volume": "43",
"issue": "20",
"pages": "201--206",
"publisher": "Elsevier BV",
"event": "8th IFAC Conference on Control Applications in Marine Systems",
"keywords": [
"Port-Hamiltonian Systems; Marine Control Systems"
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"created_date": "2011-03-10",
"permalink": "port-hamiltonian-theory-of-motion-control-for-marine-craft",
"references": [
{
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{
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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{
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"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
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{
"identifiers": {
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},
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},
{
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},
{
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},
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},
{
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{
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"title": "Boundary Damping for Mixed Finite/Infinite Dimensional Systems",
"authors": [
{
"given": "Ramaprakash",
"family": "Bayadi",
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{
"given": "Ravi N.",
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"abstract": "In this paper we study two mixed (finite-dimensional and infinite dimensional) systems - a flexible beam on a moving cart and a fluid tank mounted on a moving cart. The cart is connected to ordinary dampers, which dissipate the energy. The ultimate objective of this work is to ensure that all the energy of the infinite dimensional system (due to any disturbances) flows into the dampers and gets dissipated. We show that this is possible under certain conditions and that boundary damping alone is sufficient to bring the composite system to rest. We adopt the port-Hamiltonian approach (van der Schaft and Maschke (2002)) for our analysis, which allows us to look at the composite plant as a power conserving interconnection of infinite and finite dimensional systems.",
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"volume": "43",
"issue": "21",
"pages": "386--390",
"publisher": "Elsevier BV",
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"identifiers": {},
"citation": "Banavar, Stabilizing a flexible beam on a cart: A distributed port Hamiltonian approach. (2009)"
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{
"identifiers": {
"doi": "10.1016/0165-2125(93)90003-x"
},
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},
{
"identifiers": {},
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},
{
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},
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{
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{
"identifiers": {
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"citation": "Kim, J. U. & Renardy, Y. Boundary Control of the Timoshenko Beam. SIAM J. Control Optim. 25, 1417–1429 (1987)"
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{
"identifiers": {},
"citation": "Luo, (1999)"
},
{
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"doi": "10.1137/s0363012903429530"
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"citation": "Macchelli, A. & Melchiorri, C. Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach. SIAM J. Control Optim. 43, 743–767 (2004)"
},
{
"identifiers": {
"doi": "10.1080/00207179108934185"
},
"citation": "MORGUL, O. Boundary control of a Timoshenko beam attached to a rigid body: planar motion. International Journal of Control 54, 763–791 (1991)"
},
{
"identifiers": {
"doi": "10.1109/9.995037"
},
"citation": "Petit, N. & Rouchon, P. Dynamics and solutions to some control problems for water-tank systems. IEEE Trans. Automat. Contr. 47, 594–609 (2002)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2003.11.008"
},
"citation": "Prieur, C. & de Halleux, J. Stabilization of a 1-D tank containing a fluid modeled by the shallow water equations. Systems & Control Letters 52, 167–178 (2004)"
},
{
"identifiers": {},
"citation": "Shames, (1996)"
},
{
"identifiers": {
"doi": "10.1002/1522-2616(200207)241:1<125::aid-mana125>3.0.co;2-3"
},
"citation": "Shubov, M. A. Asymptotic and Spectral Analysis of the Spatially Nonhomogeneous Timoshenko Beam Model. Math. Nachr. 241, 125–162 (2002)"
},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
"identifiers": {},
"citation": "Venugopal, State space modelling and active control of slosh. (1996)"
},
{
"identifiers": {
"doi": "10.1007/s10957-004-5728-x"
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"citation": "Xu, G. Q. & Yung, S. P. Exponential Decay Rate for a Timoshenko Beam with Boundary Damping. Journal of Optimization Theory and Applications 123, 669–693 (2004)"
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"type": "journal-article",
"title": "On The Relation Between Port-Hamiltonian And Gradient Systems",
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"given": "A.J.",
"family": "van der Schaft",
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"abstract": "In this paper we investigate the relationships between port-Hamiltonian and gradient systems; primarily in the linear case. We show how the combination of the property of passivity with that of a gradient system leads to a class of systems which can be directly related to the classical Brayton-Moser description of RLC circuits.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2011",
"volume": "44",
"issue": "1",
"pages": "3321--3326",
"publisher": "Elsevier BV",
"event": "18th IFAC World Congress",
"keywords": [
"Passivity; reciprocity; storage functions; potential functions; indefinite innner products; Brayton-Moser equations; RLC-circuits; consensus algorithms; Hessian Riemannian metrics"
],
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{
"identifiers": {
"doi": "10.1137/s0363012902419977"
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"citation": "Alvarez, F., Bolte, J. & Brahic, O. Hessian Riemannian Gradient Flows in Convex Programming. SIAM J. Control Optim. 43, 477–501 (2004)"
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{
"identifiers": {
"doi": "10.1090/qam/169746"
},
"citation": "Brayton, R. K. & Moser, J. K. A theory of nonlinear networks. I. Quart. Appl. Math. 22, 1–33 (1964)"
},
{
"identifiers": {
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},
"citation": "Brayton, R. K. & Moser, J. K. A theory of nonlinear networks. II. Quart. Appl. Math. 22, 81–104 (1964)"
},
{
"identifiers": {
"doi": "10.1137/s0363012903425568"
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"citation": "Cortés, J., van der Schaft, A. & Crouch, P. E. Characterization of Gradient Control Systems. SIAM J. Control Optim. 44, 1192–1214 (2005)"
},
{
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},
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},
{
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},
{
"identifiers": {
"doi": "10.1093/imamci/1.2.185"
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"citation": "van der SCHAFT, A. J. Linearization of Hamiltonian and Gradient Systems. IMA J Math Control Info 1, 185–198 (1984)"
},
{
"identifiers": {},
"citation": "van der Schaft, “Port-Hamiltonian Systems”. (2009)"
},
{
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"doi": "10.1109/tcsi.2003.816332"
},
"citation": "Jeltsema, D., Ortega, R. & Scherpen, J. M. A. On passivity and power-balance inequalities of nonlinear rlc circuits. IEEE Trans. Circuits Syst. I 50, 1174–1179 (2003)"
},
{
"identifiers": {
"doi": "10.1109/tac.2003.817918"
},
"citation": "Ortega, R., Jeltsema, D. & Scherpen, J. M. A. Power shaping: A new paradigm for stabilization of nonlinear RLC circuits. IEEE Trans. Automat. Contr. 48, 1762–1767 (2003)"
},
{
"identifiers": {},
"citation": "van der Schaft, L2-Gain and Passivity Techniques in Nonlinear Control. (1996)"
},
{
"identifiers": {},
"citation": "van der Schaft, “The Hamiltonian formulation of energy conserving physical systems with external ports”. Archiv für Elektronik und Übertragungstechnik (1995)"
},
{
"identifiers": {},
"citation": "van der Schaft, “Port-Hamiltonian dynamics on graphs: consensus and coordination control algorithms”. (2010)"
},
{
"identifiers": {},
"citation": "Smale, ”On the mathematical foundations of electrical circuit theory”. J. Diff. Equations (1972)"
},
{
"identifiers": {
"doi": "10.1007/bf00276493"
},
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},
{
"identifiers": {
"doi": "10.1007/bf00276494"
},
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}
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{
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"type": "journal-article",
"title": "Port-Hamiltonian and power-based integral type control of a manipulator system",
"authors": [
{
"given": "D.A.",
"family": "Dirksz",
"literal": null,
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"affiliation": []
}
},
{
"given": "J.M.A.",
"family": "Scherpen",
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"abstract": "Steady-state errors usually occur in the implementation of control algorithms on a system, caused by uncertainties and/or modeling errors. Such errors are traditionally eliminated by adding a simple integrator. However, a simple integrator for nonlinear systems usually spoils the structure of the modeling framework. For passive systems it has been shown that passivity loses its global character. Here, integral type controllers are presented for standard nonlinear mechanical systems, based on the port-Hamiltonian and power-based modeling frameworks. Experimental results are given for a planar manipulator system.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2011",
"volume": "44",
"issue": "1",
"pages": "13450--13455",
"publisher": "Elsevier BV",
"event": "18th IFAC World Congress",
"keywords": [
"Port-Hamiltonian systems; Brayton-Moser systems; nonlinear control; integral control; mechanical manipulators"
],
"created_date": "2011-08-28",
"permalink": "port-hamiltonian-and-power-based-integral-type-control-of-a-manipulator-system",
"references": [
{
"identifiers": {
"doi": "10.1090/qam/169746"
},
"citation": "Brayton, R. K. & Moser, J. K. A theory of nonlinear networks. I. Quart. Appl. Math. 22, 1–33 (1964)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2009.04.006"
},
"citation": "Donaire, A. & Junco, S. On the addition of integral action to port-controlled Hamiltonian systems. Automatica 45, 1910–1916 (2009)"
},
{
"identifiers": {},
"citation": "Duindam, (2009)"
},
{
"identifiers": {},
"citation": "Favache, Analysis and control of the exothermic stirred tank reactor: the power-shaping approach. (2009)"
},
{
"identifiers": {
"doi": "10.1016/s0167-6911(00)00091-8"
},
"citation": "Fujimoto, K. & Sugie, T. Canonical transformation and stabilization of generalized Hamiltonian systems. Systems & Control Letters 42, 217–227 (2001)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2009.10.012"
},
"citation": "García-Canseco, E., Jeltsema, D., Ortega, R. & Scherpen, J. M. A. Power-based control of physical systems. Automatica 46, 127–132 (2010)"
},
{
"identifiers": {
"doi": "10.1109/tcsi.2003.816332"
},
"citation": "Jeltsema, D., Ortega, R. & Scherpen, J. M. A. On passivity and power-balance inequalities of nonlinear rlc circuits. IEEE Trans. Circuits Syst. I 50, 1174–1179 (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2006.10.015"
},
"citation": "Jeltsema, D. & Scherpen, J. M. A. A power-based description of standard mechanical systems. Systems & Control Letters 56, 349–356 (2007)"
},
{
"identifiers": {
"doi": "10.1109/mcs.2009.932927"
},
"citation": "Multidomain modeling of nonlinear networks and systems. IEEE Control Syst. 29, 28–59 (2009)"
},
{
"identifiers": {
"doi": "10.1109/9.701091"
},
"citation": "Kelly, R. Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions. IEEE Trans. Automat. Contr. 43, 934–938 (1998)"
},
{
"identifiers": {},
"citation": "Khalil, (1996)"
},
{
"identifiers": {},
"citation": "Maschke, Port-controlled Hamiltonian systems: modeling origins and system-theoretic properties. (1992)"
},
{
"identifiers": {},
"citation": "Ortega, (1998)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tac.2002.800770"
},
"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tac.2003.817918"
},
"citation": "Ortega, R., Jeltsema, D. & Scherpen, J. M. A. Power shaping: A new paradigm for stabilization of nonlinear RLC circuits. IEEE Trans. Automat. Contr. 48, 1762–1767 (2003)"
},
{
"identifiers": {},
"citation": "Spong, (2006)"
},
{
"identifiers": {},
"citation": "Van der Schaft, (2000)"
}
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},
{
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"identifiers": {
"doi": "10.3182/20110828-6-it-1002.02168"
},
"type": "journal-article",
"title": "Passivity and Power Based Control of a Robot with Parallel Architecture*",
"authors": [
{
"given": "Lucas C.",
"family": "Neves",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Gabriel V.",
"family": "Paim",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Isabelle",
"family": "Queinnec",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Ubirajara F.",
"family": "Moreno",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Edson R.",
"family": "De Pieri",
"literal": null,
"source_fields": {
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"abstract": "This paper presents the design and implementation of two Passivity-based controllers (PBC) to the problem of trajectory tracking of a robot manipulator with a parallel architecture, one called IDA-PBC (Interconnection and Damping Assignment) and the other called Power-Shaping. For the first controller is used the model system described as a Port-controlled Hamiltonian (PCH), which provides the system be described in a appropriate form for applying balancing of energy. For the second controller, it is used a model described by Brayton-Moser equations, which describes the system for implementing the balancing of power. Through these two methods, at the end, it is obtained the same controller known as PD with gravity compensation, which is implemented in the manipulator in study.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2011",
"volume": "44",
"issue": "1",
"pages": "14608--14613",
"publisher": "Elsevier BV",
"event": "18th IFAC World Congress",
"keywords": [
"parallel robot",
"passivity-based control",
"port-controlled hamiltonian model and power-shaping control"
],
"created_date": "2011-08-28",
"permalink": "passivity-and-power-based-control-of-a-robot-with-parallel-architecture",
"references": [
{
"identifiers": {},
"citation": "Baradat, Par2: a spatial mechanism for fast planar, 2-dof, pick-and-place applications. (2008)"
},
{
"identifiers": {
"doi": "10.1090/qam/169746"
},
"citation": "Brayton, R. K. & Moser, J. K. A theory of nonlinear networks. I. Quart. Appl. Math. 22, 1–33 (1964)"
},
{
"identifiers": {},
"citation": "Favache, Analysis and control of the exothermic continuous stirred tank reactor: the power-shaping approach. Proceedings of the 48th IEEE Conference on (2009)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2009.10.012"
},
"citation": "García-Canseco, E., Jeltsema, D., Ortega, R. & Scherpen, J. M. A. Power-based control of physical systems. Automatica 46, 127–132 (2010)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2006.10.015"
},
"citation": "Jeltsema, D. & Scherpen, J. M. A. A power-based description of standard mechanical systems. Systems & Control Letters 56, 349–356 (2007)"
},
{
"identifiers": {
"doi": "10.1109/mcs.2009.932927"
},
"citation": "Multidomain modeling of nonlinear networks and systems. IEEE Control Syst. 29, 28–59 (2009)"
},
{
"identifiers": {},
"citation": "Merlet, (2000)"
},
{
"identifiers": {},
"citation": "Neves, Modeling and control of a parallel manipulator robot (2009)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.432-450"
},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {
"doi": "10.1109/tac.2002.800770"
},
"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
},
{
"identifiers": {
"doi": "10.1109/37.915398"
},
"citation": "Putting energy back in control. IEEE Control Syst. 21, 18–33 (2001)"
},
{
"identifiers": {
"doi": "10.1109/tac.2002.800770"
},
"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tac.2003.817918"
},
"citation": "Ortega, R., Jeltsema, D. & Scherpen, J. M. A. Power shaping: A new paradigm for stabilization of nonlinear RLC circuits. IEEE Trans. Automat. Contr. 48, 1762–1767 (2003)"
},
{
"identifiers": {
"doi": "10.1016/j.mechatronics.2008.02.004"
},
"citation": "Shang, W., Cong, S. & Zhang, Y. Nonlinear friction compensation of a 2-DOF planar parallel manipulator. Mechatronics 18, 340–346 (2008)"
},
{
"identifiers": {
"doi": "10.1109/tcst.2008.2000978"
},
"citation": "Weiwei Shang, Shuang Cong, Yaoxin Zhang & Yanyang Liang. Active Joint Synchronization Control for a 2-DOF Redundantly Actuated Parallel Manipulator. IEEE Trans. Contr. Syst. Technol. 17, 416–423 (2009)"
},
{
"identifiers": {
"doi": "10.1115/1.3139651"
},
"citation": "Takegaki, M. & Arimoto, S. A New Feedback Method for Dynamic Control of Manipulators. Journal of Dynamic Systems, Measurement, and Control 103, 119–125 (1981)"
},
{
"identifiers": {
"doi": "10.1049/iet-cta:20070124"
},
"citation": "Wang, Z. & Goldsmith, P. Modified energy-balancing-based control for the tracking problem. IET Control Theory Appl. 2, 310–322 (2008)"
}
]
},
{
"id": "c065b29d-8142-5082-920f-ba8e3ba61248",
"identifiers": {
"doi": "10.3182/20110828-6-it-1002.02425"
},
"type": "journal-article",
"title": "Time Optimal Tracking Control for a Permanent Magnet Linear Actuator with bounded Energy Loss",
"authors": [
{
"given": "Richard",
"family": "Stadlmayr",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Harald",
"family": "Daxberger",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Reinhard",
"family": "Gahleitner",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "This paper considers the tracking controller design for a mechatronic handling system. The presented approach is mainly based on Port-Hamiltonian systems and it has the intension to combine a feedforward controller with a state feedback controller in order to achieve good tracking behavior as well as good disturbance rejection for the controlled plant. The controller design is separated into several tasks. At first a passivity-based tracking controller is derived for the mathematical model. The IDA-PBC design leads also to a Lyapunov function for the stability analysis of the closed loop. In addition the feedback controller is combined with a flatness-based feedforward control law and one has to derive a desired trajectory for a differentially flat system, where the fictive output and the regulated output do not match. Furthermore some given technical and optimality limitations should be considered within the trajectory planning problem. This approach avoids the solution of a boundary value problem as well as a real-time integration of the internal dynamics.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2011",
"volume": "44",
"issue": "1",
"pages": "1019--1024",
"publisher": "Elsevier BV",
"event": "18th IFAC World Congress",
"keywords": [
"energy efficiency",
"feedforward design",
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"title": "Discretized Hamiltonian Systems with Distributed Energy Flows on Divisible Meshes",
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"abstract": "This paper discusses two extensions of the discretization of distributed port-Hamiltonian systems. One of them is the incorporating non-boundary integrable energy flows, called distributed energy structures. The other is the derivation of transformations of basis forms used for dividing and assembling of meshes.",
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"title": "Port-Hamiltonian Modeling of Systems with Position-Dependent Mass",
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{
"given": "Dimitri",
"family": "Jeltsema",
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{
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"abstract": "It is known that straightforward application of the classical Lagrangian and Hamiltonian formalism to systems with mass varying explicitly with position may lead to discrepancies in the formulation of the equations of motion. Systems with mass varying explicitly with position often arise from situations where the partitioning of a closed system of constant mass leads to open subsystems that exchange mass among themselves. One possible solution is to introduce additional non-conservative generalized forces that account for these effects. However, it remains unclear how to systematically interconnect the Lagrangian or Hamiltonian subsystems. In this paper, systems with mass varying explicitly with position and their properties are studied in the port-Hamiltonian modeling framework. The port-Hamiltonian formalism combines the classical Lagrangian and Hamiltonian approach with network modeling and is applicable to various engineering domains. One of the strong aspects of the port-Hamiltonian formalism is that power-preserving interconnections between port-Hamiltonian subsystems results in another port-Hamiltonian system with composite energy and interconnection structure. The motion of a heavy cable being deployed from a reel by the action of gravity is used as an example.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2011",
"volume": "44",
"issue": "1",
"pages": "13468--13473",
"publisher": "Elsevier BV",
"event": "18th IFAC World Congress",
"keywords": [
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{
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"type": "journal-article",
"title": "Port-Hamiltonian systems on discrete manifolds",
"authors": [
{
"given": "Marko",
"family": "Šešlija",
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{
"given": "Jacquelien M.A.",
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{
"given": "Arjan",
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"abstract": "This paper offers a geometric framework for modeling port-Hamiltonian systems on discrete manifolds. The simplicial Dirac structure, capturing the topological laws of the system, is defined in terms of primal and dual cochains related by the coboundary operators. This finite-dimensional Dirac structure, as discrete analogue of the canonical Stokes-Dirac structure, allows for the formulation of finite-dimensional port-Hamiltonian systems that emulate the behaviour of the open distributed-parameter systems with Hamiltonian dynamics.",
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"publication_year": "2012",
"volume": "45",
"issue": "2",
"pages": "774--779",
"publisher": "Elsevier BV",
"event": "7th Vienna International Conference on Mathematical Modelling",
"keywords": [
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],
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"permalink": "port-hamiltonian-systems-on-discrete-manifolds",
"references": [
{
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},
{
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"citation": "Desbrun, M., Kanso, E. & Tong, Y. Discrete Differential Forms for Computational Modeling. Oberwolfach Seminars 287–324 doi:10.1007/978-3-7643-8621-4_16"
},
{
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{
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{
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"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
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{
"identifiers": {
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}
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"type": "journal-article",
"title": "Energy-Based Control of Spatially-Discretized Distributed Port-Hamiltonian Systems",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
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],
"abstract": "The main contribution of this paper is a procedure for the control by energy shaping of high-order port-Hamiltonian systems obtained from the spatial discretization of infinite dimensional dynamics. Beside the intrinsic difficulties related to the large number of state variables, the finite element model is generally given in terms of a Dirac structure and is completely a-causal, which implies that the plant dynamics is not given in standard input-state-output form, but as a set of DAEs. Consequently, the classical energy-Casimir method has to be extended in order to deal with dynamical systems with constraints, usually appearing in the form of Lagrangian multipliers. The general methodology is illustrated with the help of an examples, i.e. an hinged-hinged Timoshenko beam with actuators at both sides.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "2",
"pages": "786--791",
"publisher": "Elsevier BV",
"event": "7th Vienna International Conference on Mathematical Modelling",
"keywords": [
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"permalink": "energy-based-control-of-spatially-discretized-distributed-port-hamiltonian-systems",
"references": [
{
"identifiers": {
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},
{
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},
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},
{
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},
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
"citation": "Rodriguez, H., van der Schaft, A. J. & Ortega, R. On stabilization of nonlinear distributed parameter port-controlled Hamiltonian systems via energy shaping. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 1 131–136"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
}
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{
"id": "9b2a94f0-73d0-5d85-8426-66208d69304e",
"identifiers": {
"doi": "10.3182/20120410-3-pt-4028.00032"
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"type": "journal-article",
"title": "PCH-Based ℒ2 Disturbance Attenuation and Control of Autonomous Underwater Vehicle",
"authors": [
{
"given": "Sami",
"family": "El Ferik",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
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{
"given": "Muhammad Fuady",
"family": "Emzir",
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"abstract": "In this paper, we present a control design approach for systems in Port Controlled Hamiltonian (PCH) form. The controller design proceeds with different stages exploiting the benefit of having a preserved PCH structure of the system while in closed loop. An extension of ℒ2 disturbance attenuation control design under the assumption that the exogenous disturbance has a different input gain is also presented. Necessary and sufficient conditions to guaranty stability are stated. Robustness of the controller to parameter uncertainties is studied by assuming uncertain inertia and damping matrices. The design approach is applied to develop a PCH-based path tracking and ℒ2 disturbance attenuation controllers for Autonomous Underwater Vehicle (AUV). The simulation results demonstrate the performance of the designed controller in tracking both an horizontal plane path and a vertical plane path that passes through the singularity points. The simulation results indicate that the designed controller is robust enough to uncertainties in inertia and damping matrices. In addition, the extension of ℒ2 disturbance attenuation controller is able to attenuate the exogenous disturbance effect on AUV path tracking.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "5",
"pages": "192--197",
"publisher": "Elsevier BV",
"event": "3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles",
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{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
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},
{
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"citation": "Shen, T., Ortega, R., Lu, Q., Mei, S. & Tamura, K. Adaptive L2 Disturbance Attenuation Of Hamiltonian Systems With Parametric Perturbation And Application To Power Systems. Asian Journal of Control 5, 143–152 (2003)"
},
{
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{
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},
{
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"type": "journal-article",
"title": "On the port-Hamiltonian representation of systems described by partial differential equations",
"authors": [
{
"given": "M.",
"family": "Schöberl",
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{
"given": "A.",
"family": "Siuka",
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"abstract": "We consider infinite dimensional port-Hamiltonian systems. Based on a power balance relation we introduce the port-Hamiltonian system representation where we pay attention to two different scenarios, namely the non-differential operator case and the differential operator case regarding the structural mapping, the dissipation mapping and the in/output mapping. In contrast to the well-known representation on the basis of the underlying Stokes-Dirac structure our approach is not necessarily based on using energy-variables which leads to a different port-Hamiltonian representation of the analyzed partial differential equations.",
"container_title": "IFAC Proceedings Volumes",
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"volume": "45",
"issue": "19",
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"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
"keywords": [
"Diff erential geometric methods; Hamiltonian Systems; Partial differential equations; System theory"
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{
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},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "Macchelli, Port hamiltonian formulation of infinite dimensional systems: Part ii boundary control by interconnection. Proc. 43rd IEEE Conf. Decision and Control (CDC) (2004)"
},
{
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},
{
"identifiers": {},
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},
{
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},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
{
"identifiers": {
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}
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"doi": "10.3182/20120829-3-it-4022.00007"
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"type": "journal-article",
"title": "On a generalized port-Hamiltonian representation for the control of damped underactuated mechanical systems",
"authors": [
{
"given": "Paul",
"family": "Kotyczka",
"literal": null,
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{
"given": "Delgado L.",
"family": "Sergio",
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"abstract": "A well-known problem in controller design for underactuated mechanical systems using the Interconnection and Damping Assignment (IDA-PBC) technique is friction in unactuated degrees of freedom. For certain equilibria the definiteness requirements on the virtual energy of the port-Hamiltonian (pH) target system and the closed-loop dissipation matrix can not be satisfied simultaneously. In this contribution a modification of the pH target system is proposed, where particularly the total energy function is augmented by a cross term between coordinates and momenta. The approach stems from the fact that, although IDA-PBC may fail, unstable equilibria of underactuated mechanical systems are stabilized by linear state feedback, if the linearization is stabilizable. Then the solution of a Lyapunov equation for the linearized closed-loop system is not block diagonal, which gives rise to the proposed structure of the energy.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "149--154",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
"keywords": [
"Underactuated mechanical systems; port-Hamiltonian systems; passivity based control; physical damping."
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"references": [
{
"identifiers": {
"doi": "10.1109/tac.2005.860292"
},
"citation": "Acosta, J. A., Ortega, R., Astolfi, A. & Mahindrakar, A. D. Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one. IEEE Trans. Automat. Contr. 50, 1936–1955 (2005)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.3166/ejc.10.451-468"
},
"citation": "Gómez-Estern, F. & Van der Schaft, A. J. Physical Damping in IDA-PBC Controlled Underactuated Mechanical Systems. European Journal of Control 10, 451–468 (2004)"
},
{
"identifiers": {},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tac.2008.2006930"
},
"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 53, 2527–2542 (2008)"
},
{
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tac.2007.899064"
},
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},
{
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}
]
},
{
"id": "2d755a04-4d6e-5d12-a60e-c6f2ccb5ed65",
"identifiers": {
"doi": "10.3182/20120829-3-it-4022.00013"
},
"type": "journal-article",
"title": "Equivalence of Immersion and Invariance and IDA-PBC for the Acrobot",
"authors": [
{
"given": "Paul",
"family": "Kotyczka",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Ioannis",
"family": "Sarras",
"literal": null,
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"abstract": "In this note the two well known nonlinear control design techniques Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) and Immersion and Invariance (I&I) are compared through the example of the so-called Acrobot underactuated mechanical system. Equivalences of both procedures become obvious from the corresponding immersion and matching equations. In particular, the coordinate change which renders the potential energy matching PDE in IDA-PBC an ordinary differential equation is used to define the immersion map in I&I. It is shown that the energy shaping part of the IDA-PBC controller makes the closed-loop system an interconnection of two lower-dimensional port-Hamiltonian (pH) systems in the on- and off-manifold coordinates. The effect of damping injection output feedback can be identified with dissipation in the off-manifold part of the interconnected system. Dissipation is propagated to the on-manifold part which results in asymptotic stability of the system's equilibrium. The analysis in the present work provides an interesting interpretation of the effect of the IDA-PBC control law using the I&I framework.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "36--41",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
"keywords": [
"immersion and invariance.",
"passivity based control",
"port-hamiltonian systems",
"underactuated mechanical systems"
],
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"permalink": "equivalence-of-immersion-and-invariance-and-ida-pbc-for-the-acrobot",
"references": [
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1109/tac.2003.809820"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.3166/ejc.10.451-468"
},
"citation": "Gómez-Estern, F. & Van der Schaft, A. J. Physical Damping in IDA-PBC Controlled Underactuated Mechanical Systems. European Journal of Control 10, 451–468 (2004)"
},
{
"identifiers": {},
"citation": "Kotyczka, Local linear dynamics assignment in IDA-PBC for underactuated mechanical systems. Proc. 50th IEEE CDC/11th ECC, Orlando (2011)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2011.6160656"
},
"citation": "Kotyczka, P. Local linear dynamics assignment in IDA-PBC for underactuated mechanical systems. IEEE Conference on Decision and Control and European Control Conference 6534–6539 (2011) doi:10.1109/cdc.2011.6160656"
},
{
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},
{
"identifiers": {
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},
"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control 10, 432–450 (2004)"
},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "Sarras, Constructive immersion and invariance stabilization for a class of underactuated mechanical systems. (2010)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2013.01.059"
},
"citation": "Sarras, I., Acosta, J. Á., Ortega, R. & Mahindrakar, A. D. Constructive immersion and invariance stabilization for a class of underactuated mechanical systems. Automatica 49, 1442–1448 (2013)"
},
{
"identifiers": {},
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}
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{
"id": "e80b2132-c755-5f64-8ddd-c9777d82d10b",
"identifiers": {
"doi": "10.3182/20120829-3-it-4022.00014"
},
"type": "journal-article",
"title": "Irreversible port Hamiltonian systems",
"authors": [
{
"given": "Héctor",
"family": "Ramirez",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Bernhard",
"family": "Maschke",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Daniel",
"family": "Sbarbaro",
"literal": null,
"source_fields": {
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"abstract": "A class of quasi port Hamiltonian system expressing the first and second principle of thermodynamic as a structural property is defined, namely Irreversible PHS. The IPHS is defined by: a generating function that for physical systems corresponds to the total energy; a constant skew-symmetric structure matrix that represents the network structure of the system; a non-linear function that depends on the states and co-states and on the Poisson bracket of the generating function and some entropy function. For physical systems this Poisson bracket defines the thermodynamic driving force. The IPHS is completed with input and output ports. IPHS encompasses a large set of thermodynamic systems, including heat exchangers and chemical reactors. The non-isothermal CSTR is used to illustrate the formalism.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "13--18",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
"keywords": [
"Irreversible port Hamiltonian systems; Quasi Hamiltonian system; Irreversible thermodynamics; CSTR; Process control"
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{
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"title": "Port-Hamiltonian formulation for systems of conservation laws: application to plasma dynamics in Tokamak reactors",
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"abstract": "A port-Hamiltonian model is derived for the thermo-magneto-hydro dynamics of plasma in tokamaks. Magnetohydrodynamic and energy balance equations are expressed in their covariant form and written in the port-Hamiltonian formalism using Dirac structures. This Dirac structure is established as the interconnection of Stokes-Dirac structures with a specific interconnection structure representing the magneto-hydrodynamical coupling. Finally the problem of current density profile control is defined and potential approaches are discussed.",
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"type": "journal-article",
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"authors": [
{
"given": "Denis",
"family": "Matignon",
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{
"given": "Thomas",
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"abstract": "In this paper, a special class of damping model is introduced for second order dynamical systems. This class is built so as to leave the eigenfunctions invariant, while modifying the dynamics: for mechanical systems, well-known examples are the standard fluid and structural dampings. In the finite-dimensional case, the so-called Caughey series are a general extension of these standard damping models; the damping matrix can be expressed as a polynomial of a matrix, which depends on the mass and stiffness matrices. Damping is ensured whatever the eigenvalues of the conservative problem if and only if the polynomial is positive for positive scalar values. This can be recast in the port-Hamiltonian framework by introducing a port variable corresponding to internal energy dissipation (resistive element). Moreover, this formalism naturally allows to cope with systems including gyroscopic effects (gyrators). In the infinite-dimensional case, the previous polynomial class can be extended to rational functions and more general functions of operators (instead of matrices), once the appropriate functional framework has been defined. In this case, the resistive element is modelled by a given static operator, such as an elliptic PDE. These results are illustrated on several PDE examples: the Webster horn equation, the Bernoulli beam equation; the damping models under consideration are fluid, structural, rational and generalized fractional Laplacian or bi-Laplacian.",
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"issue": "19",
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"doi": "10.3182/20120829-3-it-4022.00030"
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"type": "journal-article",
"title": "Reduction of Stokes-Dirac structures and gauge symmetry in port-Hamiltonian systems",
"authors": [
{
"given": "Marko",
"family": "Seslija",
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{
"given": "Arjan",
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{
"given": "Jacquelien M.A.",
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"abstract": "Stokes-Dirac structures are infinite-dimensional Dirac structures defined in terms of differential forms on a smooth manifold with boundary. These Dirac structures lay down a geometric framework for the formulation of Hamiltonian systems with a nonzero boundary energy flow. Simplicial triangulation of the underlaying manifold leads to the so-called simplicial Dirac structures, discrete analogues of Stokes-Dirac structures, and thus provides a natural framework for deriving finite-dimensional port-Hamiltonian systems that emulate their infinite-dimensional counterparts. The port-Hamiltonian systems defined with respect to Stokes-Dirac and simplicial Dirac structures exhibit gauge and a discrete gauge symmetry, respectively. In this paper, employing Poisson reduction we offer a unified technique for the symmetry reduction of a generalized canonical infinite-dimensional Dirac structure to the Poisson structure associated with Stokes-Dirac structures and of a fine-dimensional Dirac structure to simplicial Dirac structures. We demonstrate this Poisson scheme on a physical example of the vibrating string.",
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"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "114--119",
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"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
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{
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},
{
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"id": "53e366fd-dc6f-5163-802a-ead39de324cf",
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"doi": "10.3182/20120829-3-it-4022.00033"
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"type": "journal-article",
"title": "A Hamiltonian perspective on the control of dynamical distribution networks",
"authors": [
{
"given": "A.J.",
"family": "van der Schaft",
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{
"given": "J.",
"family": "Wei",
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"abstract": "We study a basic dynamical distribution network, modeled as a directed graph with storage variables corresponding to the vertices, and unknown but constant inflows and outflows. It is shown how standard PI-control, regulating the storage variables irrespective of the inflows and outflows, corresponds to associating with every edge of the graph a controller state variable, yielding a closed-loop port-Hamiltonian system. Furthermore, it will be shown how regulation is proved by modifying the total Hamiltonian of the port-Hamiltonian system into a Lyapunov function based on the vector of constant inflows and outflows. Subsequently, the results are extended to the case that the input variables are constrained, leading to non-smooth Lyapunov functions.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "24--29",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
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"pi controllers",
"port-hamiltonian systems",
"saturation"
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"doi": "10.1109/jproc.2006.887293"
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{
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"title": "Infinite Dimensional Port Hamiltonian Representation of Chemical Reactors",
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{
"given": "W.",
"family": "Zhou",
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{
"given": "B.",
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{
"given": "Y.",
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"abstract": "Infinite dimensional Port Hamiltonian representation of non isothermal chemical reactors is proposed in the case of mass transport diffusion and chemical reaction without convection. The proposed approach uses thermodynamic variables. The presentation is given for one dimensional spatial domain by using the internal energy and the opposite of the entropy as hamiltonian functions.",
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{
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{
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{
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{
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"doi": "10.3182/20120829-3-it-4022.00037"
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"type": "journal-article",
"title": "Diffusive systems coupled to an oscillator: a Hamiltonian formulation",
"authors": [
{
"given": "Y.",
"family": "Le Gorrec",
"literal": null,
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{
"given": "D.",
"family": "Matignon",
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"abstract": "The aim of this paper is to study a conservative wave equation coupled to a diffusion equation : this coupled system naturally arises in musical acoustics when viscous and thermal effects at the wall of the duct of a wind instrument are taken into account. The resulting equation, known as Webster-Lokshin model, has variable coefficients in space, and a fractional derivative in time. The port-Hamiltonian formalism proves adequate to reformulate this coupled system, and could enable another well-posedness analysis, using classical results from port-Hamiltonian systems theory. First, an equivalent formulation of fractional derivatives is obtained thanks to so-called diffusive representations: this is the reason why we first concentrate on rewriting these diffusive representations into the port-Hamiltonian formalism; two cases must be studied separately, the fractional integral operator as a low-pass filter, and the fractional derivative operator as a high-pass filter. Second, a standard finite-dimensional mechanical oscillator coupled to both types of dampings, either low-pass or high-pass, is studied as a coupled pHs. The more general PDE system of a wave equation coupled with the diffusion equation is then found to have the same structure as before, but in an appropriate infinite-dimensional setting, which is fully detailed.",
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"issue": "19",
"pages": "254--259",
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"citation": "HÉLIE, TH. & MATIGNON, D. DIFFUSIVE REPRESENTATIONS FOR THE ANALYSIS AND SIMULATION OF FLARED ACOUSTIC PIPES WITH VISCO-THERMAL LOSSES. Mathematical Models and Methods in Applied Sciences vol. 16 503–536 (2006)"
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{
"identifiers": {
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},
{
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{
"identifiers": {},
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{
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{
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{
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{
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{
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"doi": "10.3182/20120829-3-it-4022.00038"
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"type": "journal-article",
"title": "A Class of Standard Mechanical System with Force Feedback in the port-Hamiltonian Framework",
"authors": [
{
"given": "Mauricio",
"family": "Muñoz-Arias",
"literal": null,
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"affiliation": []
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{
"given": "Jacquelien M.A.",
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{
"given": "Daniel A.",
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"abstract": "In this paper we show force feedback and position control of a class of standard mechanical system in the port-Hamiltonian framework. Furthermore, we show how to derive an extended port-Hamiltonian system with structure preservation which can be used for force feedback purposes besides providing the closed-loop system asymptotically stable. We also show the usefulness of the extended port-Hamiltonian system by showing its disturbance attenuation properties. Finally, we present simulation results obtained for the proposed control laws.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "90--95",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
"keywords": [
"port-Hamiltonian systems; force feedback; stability analysis; position control; mechanical systems."
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.3182/20120829-3-it-4022.00041"
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"type": "journal-article",
"title": "Boundary Energy Shaping of Linear Distributed Port-Hamiltonian Systems* *This work was partially supported by the Austrian Center of Competence in Mechatronics (ACCM).",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
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],
"abstract": "This paper deals with the stabilization via Casimir generation and energy shaping of linear, lossless, distributed port-Hamiltonian systems. Once inputs and outputs of the distributed port-Hamiltonian system have been chosen to obtain a well-defined boundary control systems, conditions for the existence of Casimir functions in closed-loop and of the associated semigroup are given, together with a criterion to be used to check asymptotic stability. Casimir functions suggest how to select the controller Hamiltonian to introduce a minimum at the desired equilibrium, while stability is ensured if proper “pervasive” boundary damping is present. The methodology is illustrated with the help of a Timoshenko beam with full-actuation on one side.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "120--125",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
"keywords": [
"distributed port-Hamiltonian systems; energy shaping; Casimir functions"
],
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"permalink": "boundary-energy-shaping-of-linear-distributed-port-hamiltonian-systems-this-work-was-partially-supported-by-the-austrian-center-of-competence-in-mechatronics-accm",
"references": [
{
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{
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{
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},
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},
{
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{
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},
{
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{
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{
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{
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{
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{
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{
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},
{
"identifiers": {
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},
{
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}
]
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{
"id": "ce33f8fe-4e8c-55a4-9590-6b683b202995",
"identifiers": {
"doi": "10.3182/20120829-3-it-4022.00042"
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"type": "journal-article",
"title": "On port-Hamiltonian Modeling of the Synchronous Generator and Ultimate Boundedness of its solutions",
"authors": [
{
"given": "S.",
"family": "Fiaz",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "D.",
"family": "Zonetti",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "R.",
"family": "Ortega",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "J.M.A.",
"family": "Scherpen",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "A.J.",
"family": "van der Schaft",
"literal": null,
"source_fields": {
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],
"abstract": "In this paper starting with bond graph techniques a nonlinear mathematical model of the synchronous generator in port-Hamiltonian framework is derived. This leads to an energy–based description of the system which we later use for stability analysis. We use Park's state transformation to decouple the dynamics of other state variables from the dynamics of rotor angle, resulting in a quotient system admitting equilibria. We show that the solutions of this quotient system are bounded and provide closed form expression for the ultimate bound of these solutions. We will also give some preliminary results on stability analysis of these equilibria using energy shaping techniques.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "30--35",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
"keywords": [
"Power system; Synchronous generator; Nonlinear models; Forced port-Hamiltonian systems; Lyapunov analysis."
],
"created_date": "2012-09-15",
"permalink": "on-port-hamiltonian-modeling-of-the-synchronous-generator-and-ultimate-boundedness-of-its-solutions",
"references": [
{
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{
"identifiers": {},
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{
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},
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},
{
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},
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},
{
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},
{
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},
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},
{
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},
{
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},
{
"identifiers": {},
"citation": "Khalil, (2002)"
}
]
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{
"id": "a864bad7-69c8-5727-b3e0-d9509d9e3855",
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"doi": "10.3182/20120829-3-it-4022.00044"
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"type": "journal-article",
"title": "Port hamiltonian modeling of MSMA based actuator: toward a thermodynamically consistent formulation",
"authors": [
{
"given": "N.",
"family": "Calchand",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "A.",
"family": "Hubert",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Y.",
"family": "Le Gorrec",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
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],
"abstract": "This paper presents a thermodynamically consistent model of MSMA (Magnetic Shape Memory Alloys) under port Hamiltonian framework. It is based on previous works on MSMA proposed in (Gauthier et al., 2008; Calchand et al., 2011). The main difference lies in the choice of the state variables and manipulated thermodynamic forces. Furthermore in (Gauthier et al., 2008), subsequent experiments revealed a highly hysteretic behavior of these materials. Here, the simplified hysteretic behavior is incorporated into the port-hamiltonian model to obtain a finer and more precise model. Such modeling will allow the use of a wide range of energy based methods to design the associated control system. The paper ends with some extensions to more complex hysterestic phenomena by using Preisach like model. First ideas are proposed to extend the previous physical model to systems with internal hysteretic loops.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "260--264",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
"keywords": [
"Irreversible thermodynamics; hysteresis; dissipative port Hamiltonian systems"
],
"created_date": "2012-09-15",
"permalink": "port-hamiltonian-modeling-of-msma-based-actuator-toward-a-thermodynamically-consistent-formulation",
"references": [
{
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},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {},
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{
"identifiers": {
"doi": "10.1088/0964-1726/14/5/009"
},
"citation": "Söderberg, O., Ge, Y., Sozinov, A., Hannula, S.-P. & Lindroos, V. K. Recent breakthrough development of the magnetic shape memory effect in Ni–Mn–Ga alloys. Smart Mater. Struct. 14, S223–S235 (2005)"
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"doi": "10.3182/20120829-3-it-4022.00046"
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"type": "journal-article",
"title": "Casimir-Based Control Beyond the Dissipation Obstacle",
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{
"given": "Johan",
"family": "Koopman",
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"abstract": "A prevailing trend in the stabilization of port-Hamiltonian systems is the assumption that the plant and the controller are both passive. In the standard approach of control by interconnection based on the generation of Casimir functions, this assumption leads to the dissipation obstacle, which essentially means that dissipation is admissible only on the coordinates of the closed-loop Hamiltonian that do not require shaping and thus severely restricts the scope of applications. In this contribution, we show that we can easily go beyond the dissipation obstacle by allowing the controller to have a negative semi-definite resistive structure, while guaranteeing stability of both the closed-loop and the controller.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "173--177",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
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"citation": "Duindam, (2009)"
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{
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"citation": "Kolmogorov, (1999)"
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{
"identifiers": {
"doi": "10.1109/tac.2003.817918"
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"citation": "Ortega, R., Jeltsema, D. & Scherpen, J. M. A. Power shaping: A new paradigm for stabilization of nonlinear RLC circuits. IEEE Trans. Automat. Contr. 48, 1762–1767 (2003)"
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{
"identifiers": {
"doi": "10.1016/j.automatica.2004.04.007"
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"citation": "Jeltsema, D., Ortega, R. & M.A. Scherpen, J. An energy-balancing perspective of interconnection and damping assignment control of nonlinear systems. Automatica 40, 1643–1646 (2004)"
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{
"identifiers": {
"doi": "10.1109/tac.2008.2006930"
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"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 53, 2527–2542 (2008)"
},
{
"identifiers": {},
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{
"identifiers": {},
"citation": "van der Schaft, (2000)"
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"title": "Memristive port-Hamiltonian control: path-dependent damping injection in control of mechanical systems",
"authors": [
{
"given": "A.",
"family": "Dòria-Cerezo",
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{
"given": "L.",
"family": "van der Heijden",
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{
"given": "J.M.A.",
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"abstract": "This paper presents the use of the memristor as a new element for designing passivity-based controllers. From the port-Hamiltonian description of the electrical circuits with memristors, a target dynamics is assigned to the matching equation proposed by the methodology known as Interconnection and Damping Assignment-Passivity-based Control. The inclusion of the memristor element extends the closed loop dynamics and it results in an extra term in the control algorithm that can be seen as a state-modulated gain. Two mechanical examples, in the form of a position control systems are included to show possible applications.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "167--172",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
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},
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},
{
"identifiers": {
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},
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},
{
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},
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},
{
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},
{
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{
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},
{
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},
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1080/13873951003690824"
},
"citation": "Jeltsema, D. & van der Schaft, A. J. Memristive port-Hamiltonian Systems. Mathematical and Computer Modelling of Dynamical Systems 16, 75–93 (2010)"
},
{
"identifiers": {
"doi": "10.1109/tac.2002.800770"
},
"citation": "Ortega, R., Spong, M. W., Gomez-Estern, F. & Blankenstein, G. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Trans. Automat. Contr. 47, 1218–1233 (2002)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1103/physreve.80.021926"
},
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},
{
"identifiers": {
"doi": "10.1038/nature06932"
},
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},
{
"identifiers": {},
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},
{
"identifiers": {
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},
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}
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"doi": "10.3182/20120829-3-it-4022.00050"
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"type": "journal-article",
"title": "Boundary Port Hamiltonian systems of conservation laws coupled by a moving interface",
"authors": [
{
"given": "Mamadou",
"family": "Diagne",
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{
"given": "Bernhard",
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"abstract": "In this paper we consider the port-Hamiltonian formulation of systems of two conservation laws defined on two complementary intervals of some interval of the real line and coupled by some moving interface. We recall first how two port Hamiltonian systems coupled by an interface may be expressed as an port Hamiltonian systems augmented with two variables being the characteristic functions of of two spatial domains. Then we consider the case of a moving interface and show that it may be expressed as the preceeding port Hamiltonian system augmented with an input, being the velocity of the interface and define a conjugated output variable. We conclude by giving some definition of the passivity of interface relations coupling the external variables associated with the interface.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "19",
"pages": "265--270",
"publisher": "Elsevier BV",
"event": "4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control",
"keywords": [
"Boundary port Hamiltonian systems; PDE's with moving interface"
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"references": [
{
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{
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{
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{
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{
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},
{
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{
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{
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{
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{
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{
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},
{
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{
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},
{
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},
{
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},
{
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},
{
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}
]
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{
"id": "907ecd68-ca55-5ec7-8055-4aaf0a4b4cf7",
"identifiers": {
"doi": "10.3182/20120919-3-it-2046.00072"
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"type": "journal-article",
"title": "Manoeuvring Control of Underactuated Surface Vessels using Manifold Regulation for Port-Hamiltonian Systems",
"authors": [
{
"given": "Christopher",
"family": "Renton",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Tristan",
"family": "Perez",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "This paper considers the manoeuvring of underactuated surface vessels. The control objective is to steer the vessel to reach a manifold which encloses a waypoint. A transformation of configuration variables and a potential field are used in a Port-Hamiltonian framework to design an energy-based controller. With the proposed controller, the geometric task associated with the manoeuvring problem depends on the desired potential energy (closed-loop) and the dynamic task depends on the total energy and damping. Therefore, guidance and motion control are addressed jointly, leading to model-energy-based trajectory generation.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2012",
"volume": "45",
"issue": "27",
"pages": "422--428",
"publisher": "Elsevier BV",
"event": "9th IFAC Conference on Manoeuvring and Control of Marine Craft",
"keywords": [],
"created_date": "2014-03-05",
"permalink": "manoeuvring-control-of-underactuated-surface-vessels-using-manifold-regulation-for-port-hamiltonian-systems",
"references": [
{
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},
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},
{
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},
{
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{
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{
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{
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},
{
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},
{
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},
{
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},
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},
{
"identifiers": {
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},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
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},
{
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},
{
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},
{
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},
{
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},
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}
]
},
{
"id": "808da2c2-de42-54f8-8064-9e1863f569e0",
"identifiers": {
"doi": "10.3182/20130204-3-fr-2033.00098"
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"type": "journal-article",
"title": "Geometric discretization for a plasma control model",
"authors": [
{
"given": "N.M.T.",
"family": "VU",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "L.",
"family": "LEFEVRE",
"literal": null,
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"affiliation": []
}
},
{
"given": "R.",
"family": "NOUAILLETAS",
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"affiliation": []
}
},
{
"given": "S.",
"family": "BREMOND",
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}
}
],
"abstract": "we define a family of geometric discretization methods for the reduction of a 1D distributed parameters systems of conservation laws and apply these methods to the reduction of plasma control model written in Port-Controlled Hamiltonian (PCH) form. In these discrete schemes, variables are projected into appropriate bases in order to perform exact spatial differentiation. We show that some spectral and energetical properties are therefore preserved. A geometric (symplectic) collocation scheme using Lagrange polynomials is investigated. Numerical results show oscillations in the transient response in case of non homogeneous boundary conditions or sharp distributed control. A second symplectic spectral scheme using Bessel conjugated bases is then derived which allows a more accurate approximation of eigenfunctions and reduces the unwanted numerical oscillations. Finally, the proposed numerical integration of the control model is validated against experimental data from the tokamak Tore Supra.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2013",
"volume": "46",
"issue": "2",
"pages": "755--760",
"publisher": "Elsevier BV",
"event": "5th IFAC Symposium on System Structure and Control",
"keywords": [
"distributed parameters systems",
"geometric discretization",
"plasma control",
"port-controlled hamiltonian systems",
"pseudo-spectral methods",
"symplectic methods"
],
"created_date": "2013-02-23",
"permalink": "geometric-discretization-for-a-plasma-control-model",
"references": [
{
"identifiers": {
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},
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},
{
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},
{
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},
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},
{
"identifiers": {
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},
"citation": "Moulla, R., Lefévre, L. & Maschke, B. Pseudo-spectral methods for the spatial symplectic reduction of open systems of conservation laws. Journal of Computational Physics 231, 1272–1292 (2012)"
},
{
"identifiers": {
"doi": "10.1109/tac.2008.2006930"
},
"citation": "Ortega, R., van der Schaft, A., Castanos, F. & Astolfi, A. Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans. Automat. Contr. 53, 2527–2542 (2008)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
},
{
"identifiers": {},
"citation": "Vu, Port-hamiltonian formulation for systems of conservation laws: application to plasma dynamics in tokamak reactors. (2012)"
},
{
"identifiers": {},
"citation": "Wesson, (2004)"
},
{
"identifiers": {
"doi": "10.1088/0741-3335/49/7/009"
},
"citation": "Witrant, E. et al. A control-oriented model of the current profile in tokamak plasma. Plasma Phys. Control. Fusion 49, 1075–1105 (2007)"
}
]
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{
"id": "27115638-37ae-56c8-a5f2-0b1dafdc94d8",
"identifiers": {
"doi": "10.3182/20130204-3-fr-2033.00199"
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"type": "journal-article",
"title": "Averaged port-Hamiltonian modeling based observer for DC-DC power converters",
"authors": [
{
"given": "A.R.",
"family": "Meghnous",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "M.T.",
"family": "Pham",
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{
"given": "X.",
"family": "Lin-Shi",
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"abstract": "This paper presents a nonlinear observer for DC-DC power converters based on an averaged Port-Hamiltonian model. The averaged model of the standard port control Hamiltonian is used to describe the switching behavior and to design a nonlinear observer. Alike a state-space averaged model of the kind of systems, properties of port-Hamiltonian modeling and Lyapunov theory allows to overcome an observability issue encounters in the observer design for switched systems and to guarantee that the convergence of the observer error is independent of the cycle duty. An application to a Single-Ended Primary Inductor Converter (SEPIC) is presented in simulation. An extended observer is proposed to estimate the load resistor. Experimental results on a real process confirm the performances of the proposed observer.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2013",
"volume": "46",
"issue": "2",
"pages": "827--832",
"publisher": "Elsevier BV",
"event": "5th IFAC Symposium on System Structure and Control",
"keywords": [],
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"references": [
{
"identifiers": {
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"given": "Christopher",
"family": "Renton",
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"abstract": "In this paper, we consider the problem of position regulation of a class of underactuated rigid-body vehicles that operate within a gravitational field and have fully-actuated attitude. The control objective is to regulate the vehicle position to a manifold of dimension equal to the underactuation degree. We address the problem using Port-Hamiltonian theory, and reduce the associated matching PDEs to a set of algebraic equations using a kinematic identity. The resulting method for control design is constructive. The point within the manifold to which the position is regulated is determined by the action of the potential field and the geometry of the manifold. We illustrate the performance of the controller for an unmanned aerial vehicle with underactuation degree two–-a quadrotor helicopter.",
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{
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{
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{
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],
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"type": "journal-article",
"title": "Passivity Based Control of Irreversible Port Hamiltonian Systems",
"authors": [
{
"given": "Hector",
"family": "Ramirez",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
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{
"given": "Yann Le",
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{
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{
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"abstract": "The frameworks of thermodynamic availability function and irreversible port Hamiltonian systems are used to derive passivity based control strategies for irreversible thermodynamic systems. An energy based availability function is defined using as generating function the internal energy. This is a variation with respect to previous works where the total entropy usually corresponds to the generating function. The specific structure of irreversible port-Hamiltonian systems then permits to elegantly derive stability conditions for open and closed thermodynamic systems. The results are illustrated on two classical thermodynamic examples: The heat exchanger and the continuous stirred tank reactor.",
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"publication_year": "2013",
"volume": "46",
"issue": "14",
"pages": "84--89",
"publisher": "Elsevier BV",
"event": "1st IFAC Workshop on Thermodynamic Foundations of Mathematical Systems Theory",
"keywords": [
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"doi": "10.3182/20130904-3-fr-2041.00088"
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"title": "Discrete IDA-PBC design for 2D port-Hamiltonian systems",
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"given": "Said",
"family": "Aoues",
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"given": "Damien",
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"abstract": "We address the discrete-time passivity-based control laws synthesis within port-Hamiltonian framework. We focus on IDA-PBC design for canonical port-Hamiltonian systems with separable energy being quadratic in momentum. For this class of systems, we define a discrete Hamiltonian dynamics that exactly satisfies a discrete energy balance. We then derive a discrete controller following the IDA-PBC procedure. The proposed methodology relies on an energy discretization scheme with suitable discrete conjugate port variables. The main result is illustrated on two examples: a nonlinear pendulum in order to compare with some simulation results of the literature, and the impact oscillator which requires robust discretization scheme.",
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"doi": "10.3182/20110828-6-it-1002.01187"
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"citation": "Sümer, L. G. & Yalçin, Y. A Direct Discrete-time IDA-PBC Design Method for a Class of Underactuated Hamiltonian Systems. IFAC Proceedings Volumes 44, 13456–13461 (2011)"
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{
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"doi": "10.3182/20050703-6-cz-1902.00540"
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"citation": "Laila, D. S. & Astolfi, A. DISCRETE-TIME IDA-PBC DESIGN FOR SEPARABLE HAMILTONIAN SYSTEMS. IFAC Proceedings Volumes 38, 838–843 (2005)"
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"doi": "10.1109/acc.2006.1655352"
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"citation": "Laila, D. S. & Astolfi, A. Discrete-time IDA-PBC design for underactuated Hamiltonian control systems. 2006 American Control Conference 6 pp. (2006) doi:10.1109/acc.2006.1655352"
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"doi": "10.1016/j.sysconle.2005.09.012"
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"citation": "Laila, D. S. & Astolfi, A. Construction of discrete-time models for port-controlled Hamiltonian systems with applications. Systems & Control Letters 55, 673–680 (2006)"
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"doi": "10.1109/tro.2004.842330"
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{
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"given": "Alessandro",
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"abstract": "The aim of this paper is to present a simple extension of the theory of linear, distributed, port-Hamiltonian systems to the nonlinear scenario. More precisely, an algebraic nonlinear skew-symmetric term has now been included in the PDE. It is then shown that the system can be equivalently written in terms of the scattering variables, and that these variables are strictly related with the Riemann invariants that appear in quasi-linear hyperbolic PDEs. For this class of PDEs, several results about the existence of solutions, and asymptotic stability of equilibria have already been presented in literature. Here, these results have been extended and applied within the port-Hamiltonian framework, where are suitable of a nice physical interpretation. The final scope is the boundary asymptotic stabilisation of a nonlinear flexible beam with a free-end, and full actuation on the other side.",
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"given": "Mauricio",
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{
"given": "Jacquelien M.A.",
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{
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"abstract": "This work is devoted to a force control strategy of a class of standard mechanical systems in the port-Hamiltonian framework. First, a coordinate transformation is applied to equivalently describe the original port-Hamiltonian system in a port-Hamiltonian form which has a constant mass-inertia matrix in the Hamiltonian. Then, we show how to derive an extended port-Hamiltonian system with structure preservation which can be used for force control purposes. Furthermore, we prove that the closed-loop system is asymptotically stable via a Lyapunov candidate function. Finally, experiments results are provided to show the advantages of the force control strategy in presence of external forces.",
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"volume": "46",
"issue": "23",
"pages": "377--382",
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{
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{
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{
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"given": "Tudor C.",
"family": "Ionescu",
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"abstract": "The problem of moment matching with preservation of port Hamiltonian and gradient structure is studied. Based on the time-domain approach to linear moment matching, we characterize the (subset of) port Hamiltonian/gradient models from the set of parameterized models that match the moments of a given port Hamiltonian/gradient system, at a set of finite points.",
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{
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{
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{
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{
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{
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"title": "A Globally Exponentially Stable Tracking Controller for Mechanical Systems with Friction Using Position Feedback",
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{
"given": "José Guadalupe",
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"abstract": "A solution to the problem of global exponential tracking without velocity measurement of mechanical systems with friction and possibly unbounded inertia matrix is given in the paper. The proposed controller is obtained combining a new full-information passivity-based controller with a new immersion and invariance observer. The resulting closed-loop system has, in some suitably defined coordinates, a port-Hamiltonian structure with a desired energy function and a uniformly positive definite damping matrix. In this way, global exponential tracking of position and velocity for all desired reference trajectories is ensured.",
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"publication_year": "2013",
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{
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{
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"doi": "10.1109/tac.2010.2042010"
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"abstract": "In this paper, we consider a passivity-based approach for the design of a control law of multiple ship-roll gyro-stabiliser units. We extend previous work on control of ship roll gyrostabilisation by considering the problem within a nonlinear framework. In particular, we derive an energy-based model using the port-Hamiltonian theory and then design an active precession controller using passivity-based control interconnection and damping assignment. The design considers the possibility of having multiple gyro-stabiliser units, and the desired potential energy of the system (in closed loop) is chosen to behave like a barrier function, which allows us to enforce constraints on the precession angle of the gyros.",
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{
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{
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{
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{
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{
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{
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"abstract": "This paper reviews some recent results in motion control of marine vehicles using a technique called Interconnection and Damping Assignment Passivity-based Control (IDA-PBC). This approach to motion control exploits the fact that vehicle dynamics can be described in terms of energy storage, distribution, and dissipation, and that the stable equilibrium points of mechanical systems are those at which the potential energy attains a minima. The control forces are used to transform the closed-loop dynamics into a port-controlled Hamiltonian system with dissipation. This is achieved by shaping the energy-storing characteristics of the system, modifying its interconnection structure (how the energy is distributed), and injecting damping. The end result is that the closed-loop system presents a stable equilibrium (hopefully global) at the desired operating point. By forcing the closed-loop dynamics into a Hamiltonian form, the resulting total energy function of the system serves as a Lyapunov function that can be used to demonstrate stability. We consider the tracking and regulation of fully actuated unmanned underwater vehicles, its extension to under-actuated slender vehicles, and also manifold regulation of under-actuated surface vessels. The paper is concluded with an outlook on future research.",
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{
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"title": "Dirac Structures on Hilbert Spaces and Boundary Control of Distributed Port-Hamiltonian Systems",
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"abstract": "The scope of this paper is to show how to exploit the properties of the Stokes–Dirac structure in the development of energy-based boundary control laws for distributed port-Hamiltonian systems. Usually, stabilisation of non-zero equilibria has been achieved by shaping the open-loop Hamiltonian function by interconnecting a finite-dimensional port-Hamiltonian controller to the boundary of the distributed parameter system. The procedure is based on the presence of structural invariants, namely Casimir functions, in closed-loop, but this approach fails when a non-zero power flow from the controller is required at the equilibrium (dissipation obstacle). This paper illustrates that the class of stabilising controllers can be enlarged by relying on the parametrisation of the system dynamics provided by the image representation of the Stokes–Dirac structure, that is able to show the effects of the boundary inputs on the state evolution in a simple and effective way.",
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"citation": "Pasumarthy, R. & van der Schaft, A. J. Achievable Casimirs and its implications on control of port-Hamiltonian systems. International Journal of Control 80, 1421–1438 (2007)"
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"citation": "Rodriguez, H., van der Schaft, A. J. & Ortega, R. On stabilization of nonlinear distributed parameter port-controlled Hamiltonian systems via energy shaping. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) vol. 1 131–136"
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"citation": "Swaters, (2000)"
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"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y., Maschke, B. & van der Schaft, A. J. Stability and Stabilization of a Class of Boundary Control Systems. Proceedings of the 44th IEEE Conference on Decision and Control 3850–3855 doi:10.1109/cdc.2005.1582762"
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"doi": "10.1109/tac.2008.2007176"
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"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y. & Maschke, B. Exponential Stability of a Class of Boundary Control Systems. IEEE Trans. Automat. Contr. 54, 142–147 (2009)"
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"abstract": "First the classical, port-Hamiltonian and discrete lattice Boltzmann (LBM) formulations for the shallow water equations are presented. Boundary controllability is studied in nonlinear and linearized cases. The controllability of the shallow water equations and the uniform controllability of the LBM are then investigated in the linearized case. It is shown that, using water levels/flows boundaries input variables in the LBM, there is a loss of controllability in the sequence of finite dimensional approximations when the order of the model increases. It is finally shown that we don't have this loss of controllability when the chosen input are boundary port-variables.",
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"citation": "Anda Ondo D, Lefèvre L, Chopard B (2011) Discrete Controllability of Distributed Parameters Systems using Lattice Boltzmann Models: an application to the Shallow Water Equations. IFAC Proceedings Volumes 44(1):9206–9211. https://doi.org/10.3182/20110828-6-it-1002.0254"
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{
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{
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{
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"doi": "10.1016/j.jcp.2010.06.022"
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"citation": "Li T, Rao B, Wang Z (2008) Contrôlabilité et observabilité unilatérales de systèmes hyperboliques quasi-linéaires. Comptes Rendus Mathématique 346(19–20):1067–1072. https://doi.org/10.1016/j.crma.2008.09.00"
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{
"identifiers": {
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"citation": "Zhou JG (2004) Lattice Boltzmann Methods for Shallow Water Flows. Springer Berlin Heidelber"
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{
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"doi": "10.3934/dcds.2002.8.469"
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"citation": "Zuazua E (2002) Controllability of partial differential equations and its semi-discrete approximations. DCDS 8(2):469–513. https://doi.org/10.3934/dcds.2002.8.46"
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"abstract": "In this paper we shall consider the Hamiltonian formulation of one-dimensional models of fluid dynamical systems such as the Korteweg de Vries equation and the Boussinesq equation and their extension to port-Hamiltonian systems. We consider the Korteweg de Vries equation and recall its bi-Hamiltonian structure, either formulated as a single conservation law or formulated with respect to Magri's bracket. In both cases we give an extension of the associated Hamiltonian operators to a Stokes-Dirac structure. Then we consider the Boussinesq equation and recall the two Hamiltonian representations either with respect to the canonical Hamiltonian operator associated with a system of two coupled conservation laws or with respect to a third order Hamiltonian operator. In this case we shall suggest a third Hamiltonian operator for which an extension to a Dirac structure is derived.",
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{
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{
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{
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{
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{
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{
"identifiers": {
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},
{
"identifiers": {
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{
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{
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{
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{
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{
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{
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{
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{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
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{
"identifiers": {
"doi": "10.1109/tac.2008.2007176"
},
"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y. & Maschke, B. Exponential Stability of a Class of Boundary Control Systems. IEEE Transactions on Automatic Control vol. 54 142–147 (2009)"
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{
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"type": "journal-article",
"title": "Exponential stability of boundary controlled port Hamiltonian systems with dynamic feedback",
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"given": "Hector",
"family": "Ramirez",
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"abstract": "In this paper it is shown that an input strictly passive linear finite dimensional port-Hamiltonian controller exponentially stabilizes a large class of boundary control systems. This follows since the finite dimensional controller dissipates the energy flowing through the boundaries of the infinite dimensional system. The assumptions on the controller is that it is input strictly passive and that it is exponentially stable. The result is illustrated on the model of a boundary controlled DNA-manipulation process.",
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{
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{
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{
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"citation": "Le Gorrec, Y., Zwart, H. & Maschke, B. Dirac structures and Boundary Control Systems associated with Skew-Symmetric Differential Operators. SIAM J. Control Optim. 44, 1864–1892 (2005)"
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{
"identifiers": {
"doi": "10.1137/s0363012903429530"
},
"citation": "Macchelli, A. & Melchiorri, C. Modeling and Control of the Timoshenko Beam. The Distributed Port Hamiltonian Approach. SIAM J. Control Optim. 43, 743–767 (2004)"
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{
"identifiers": {
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{
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},
{
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},
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},
{
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"doi": "10.1109/tac.2008.2007176"
},
"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y. & Maschke, B. Exponential Stability of a Class of Boundary Control Systems. IEEE Trans. Automat. Contr. 54, 142–147 (2009)"
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{
"identifiers": {
"doi": "10.1109/cdc.2005.1582762"
},
"citation": "Villegas, J. A., Zwart, H., Le Gorrec, Y., Maschke, B. & van der Schaft, A. J. Stability and Stabilization of a Class of Boundary Control Systems. Proceedings of the 44th IEEE Conference on Decision and Control 3850–3855 doi:10.1109/cdc.2005.1582762"
}
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"doi": "10.3182/20140824-6-za-1003.00394"
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"type": "journal-article",
"title": "Formation Control of Wheeled Robots in the Port-Hamiltonian Framework",
"authors": [
{
"given": "Ewoud",
"family": "Vos",
"literal": null,
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{
"given": "Jacquelien M.A.",
"family": "Scherpen",
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{
"given": "Arjan J. van der",
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"abstract": "This paper proposes a new control strategy for the formation control of a network of wheeled robots. Starting from the rigid body dynamics, a dynamical model of the wheeled robot is derived in the port-Hamiltonian framework. The formation control objective is achieved by interconnecting the robots using virtual couplings, which give a clear physical interpretation of the proposed solution. Simulation and experimental results are given, to illustrate the effectiveness of the approach.",
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"references": [
{
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{
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{
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{
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{
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{
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{
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{
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{
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},
{
"identifiers": {
"doi": "10.1137/110840091"
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"citation": "van der Schaft, A. J. & Maschke, B. M. Port-Hamiltonian Systems on Graphs. SIAM J. Control Optim. 51, 906–937 (2013)"
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{
"identifiers": {
"doi": "10.1016/j.automatica.2014.08.027"
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"citation": "Vos, E., Scherpen, J. M. A. & van der Schaft, A. J. Equal distribution of satellite constellations on circular target orbits. Automatica 50, 2641–2647 (2014)"
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"doi": "10.3182/20140824-6-za-1003.00796"
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"type": "journal-article",
"title": "On the feedforward control problem for discretized port-Hamiltonian systems",
"authors": [
{
"given": "Paul",
"family": "Kotyczka",
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"abstract": "The boundary feedforward control problem for a class of distributed-parameter port-Hamiltonian systems in one spatial dimension is addressed. The considered hyperbolic systems of two conservation laws (with dissipation) are discretized in the spatial coordinate using an energy-based, structure preserving discretization scheme. The resulting finite-dimensional approximate state representation has a feedthrough term which allows to directly express the differential equation for the inverse dynamics. The inverse system needs to be solved in order to determine the control inputs for given desired output trajectories. For non-collocated pairs of boundary in- and outputs the magnitude of dissipation determines whether the inverse discretized models are stable or not. In the unstable case, the problem at hand can be attacked with classical approaches for the dynamic inversion of non-minimum phase systems.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2014",
"volume": "47",
"issue": "3",
"pages": "652--658",
"publisher": "Elsevier BV",
"event": "19th IFAC World Congress",
"keywords": [
"Infinite-dimensional systems; port-Hamiltonian systems; structure preserving discretization; dynamic inversion"
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{
"identifiers": {
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{
"identifiers": {
"doi": "10.1016/j.automatica.2003.12.017"
},
"citation": "Golo, G., Talasila, V., van der Schaft, A. & Maschke, B. Hamiltonian discretization of boundary control systems. Automatica 40, 757–771 (2004)"
},
{
"identifiers": {
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},
{
"identifiers": {
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"citation": "Knuppel, T., Woittennek, F. & Rudolph, J. Flatness-based trajectory planning for the shallow water equations. 49th IEEE Conference on Decision and Control (CDC) 2960–2965 (2010) doi:10.1109/cdc.2010.5717438"
},
{
"identifiers": {
"doi": "10.1109/tac.2005.858656"
},
"citation": "Macchelli, A. & Melchiorri, C. Control by interconnection of mixed port Hamiltonian systems. IEEE Trans. Automat. Contr. 50, 1839–1844 (2005)"
},
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1109/cdc.2006.377022"
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{
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{
"identifiers": {
"doi": "10.1109/tac.2012.2235739"
},
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{
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},
{
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"doi": "10.4171/022-3/65"
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},
{
"identifiers": {
"doi": "10.1016/s0393-0440(01)00083-3"
},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics 42, 166–194 (2002)"
}
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{
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"doi": "10.3182/20140824-6-za-1003.00863"
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"type": "journal-article",
"title": "Stability of Synchronized Motions of Inverter–Based Microgrids Under Droop Control",
"authors": [
{
"given": "Johannes",
"family": "Schiffer",
"literal": null,
"source_fields": {
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"affiliation": []
}
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{
"given": "Romeo",
"family": "Ortega",
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{
"given": "Alessandro",
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{
"given": "Jörg",
"family": "Raisch",
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{
"given": "Tevfik",
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"abstract": "We consider the problems of frequency stability, voltage stability and power sharing in droop–controlled inverter–based microgrids with meshed topologies and dominantly inductive power lines. Assuming that the conductances in the microgrid can be neglected, a port–Hamiltonian description of a droop–controlled microgrid is derived. The model is used to establish sufficient conditions for local stability. Furthermore, we propose a condition for the controller parameters such that a desired steady–state active power distribution is achieved. The robustness of the stability condition with respect to the presence of conductances is analyzed via a simulation example based on the CIGRE benchmark medium voltage distribution network.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2014",
"volume": "47",
"issue": "3",
"pages": "6361--6367",
"publisher": "Elsevier BV",
"event": "19th IFAC World Congress",
"keywords": [
"droop control",
"inverters",
"microgrid stability",
"port–hamiltonian systems"
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"permalink": "stability-of-synchronized-motions-of-inverter-based-microgrids-under-droop-control",
"references": [
{
"identifiers": {
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{
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{
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{
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tpwrs.2006.873018"
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
},
{
"identifiers": {
"doi": "10.1109/tpel.2006.890003"
},
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},
{
"identifiers": {
"doi": "10.1109/pes.2006.1709447"
},
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},
{
"identifiers": {
"doi": "10.1109/cdc.2012.6426704"
},
"citation": "Schiffer, J., Anta, A., Trung, T. D., Raisch, J. & Sezi, T. On power sharing and stability in autonomous inverter-based microgrids. 2012 IEEE 51st IEEE Conference on Decision and Control (CDC) 1105–1110 (2012) doi:10.1109/cdc.2012.6426704"
},
{
"identifiers": {
"doi": "10.1109/cdc.2013.6760229"
},
"citation": "Schiffer, J., Goldin, D., Raisch, J. & Sezi, T. Synchronization of droop-controlled microgrids with distributed rotational and electronic generation. 52nd IEEE Conference on Decision and Control 2334–2339 (2013) doi:10.1109/cdc.2013.6760229"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2014.08.009"
},
"citation": "Schiffer, J., Ortega, R., Astolfi, A., Raisch, J. & Sezi, T. Conditions for stability of droop-controlled inverter-based microgrids. Automatica 50, 2457–2469 (2014)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2013.05.018"
},
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},
{
"identifiers": {
"doi": "10.1109/cdc.2013.6761093"
},
"citation": "Simpson-Porco, J. W., Dorfler, F. & Bullo, F. Voltage stabilization in microgrids via quadratic droop control. 52nd IEEE Conference on Decision and Control 7582–7589 (2013) doi:10.1109/cdc.2013.6761093"
},
{
"identifiers": {},
"citation": "van der Schaft, (2000)"
},
{
"identifiers": {
"doi": "10.1109/tie.2011.2146221"
},
"citation": "Zhong, Q.-C. Robust Droop Controller for Accurate Proportional Load Sharing Among Inverters Operated in Parallel. IEEE Trans. Ind. Electron. 60, 1281–1290 (2013)"
}
]
},
{
"id": "6314e8a3-2c63-51e6-a662-3fa05d8bedbc",
"identifiers": {
"doi": "10.3182/20140824-6-za-1003.00870"
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"type": "journal-article",
"title": "Boundary Energy-Shaping Control of the Shallow Water Equation",
"authors": [
{
"given": "Alessandro",
"family": "Macchelli",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
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"abstract": "The aim of this paper is to apply new results on the boundary stabilisation via energy-shaping of distributed port-Hamiltonian systems to a nonlinear PDE, i.e. a slightly simplified formulation of the shallow water equation. Usually, stabilisation of non-zero equilibria via energy-balancing has been achieved by looking at, or generating, a set of structural invariants (Casimir functions), in closed-loop. This approach is not successful in case of the shallow water equation because at the equilibrium the regulator is supposed to supply an infinite amount of energy (dissipation obstacle). In this paper, it is shown how to construct a controller that behaves as a state-modulated boundary source and that asymptotically stabilises the desired equilibrium. The proposed approach relies on a parametrisation of the dynamics provided by the image representation of the Dirac structure associated to the distributed port-Hamiltonian system. In this way, the effects of the boundary inputs on the state evolution are explicitly shown, and as a consequence the boundary control action that maps the open-loop system into a target one characterised by the desired stability properties, i.e. by a “new” Hamiltonian with an isolated minimum at the equilibrium, is determined.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2014",
"volume": "47",
"issue": "3",
"pages": "1586--1591",
"publisher": "Elsevier BV",
"event": "19th IFAC World Congress",
"keywords": [
"distributed port-Hamiltonian systems; passivity-based control; stability of distributed parameter systems"
],
"created_date": "2014-10-08",
"permalink": "boundary-energy-shaping-control-of-the-shallow-water-equation",
"references": [
{
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},
{
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},
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},
{
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{
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{
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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{
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},
{
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{
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{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1080/00207170701361273"
},
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{
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{
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},
{
"identifiers": {
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},
"citation": "van der Schaft, A. J. & Maschke, B. M. Hamiltonian formulation of distributed-parameter systems with boundary energy flow. Journal of Geometry and Physics vol. 42 166–194 (2002)"
}
]
},
{
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"doi": "10.3182/20140824-6-za-1003.01579"
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"type": "journal-article",
"title": "Port Hamiltonian System in Descriptor Form for Balanced Reduction: Application to a Nanotweezer",
"authors": [
{
"given": "Yongxin",
"family": "Wu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Boussad",
"family": "Hamroun",
"literal": null,
"source_fields": {
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"affiliation": []
}
},
{
"given": "Yann Le",
"family": "Gorrec",
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}
},
{
"given": "Bernhard",
"family": "Maschke",
"literal": null,
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],
"abstract": "This paper proposes a method of balanced model reduction for constrained linear port Hamiltonian systems. Constrained linear port Hamiltonian systems are first written in a canonical descriptor form such that the Hamiltonian structure is preserved. The computations of the controllability and observability Gramians are then used to derive the balanced port Hamiltonian representation of the system. The method of flow constraint is applied to reduce the system. Finally, numerical simulations for the reduction of a micro mechanical actuator model is given to illustrate the effectiveness of the proposed method.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2014",
"volume": "47",
"issue": "3",
"pages": "11404--11409",
"publisher": "Elsevier BV",
"event": "19th IFAC World Congress",
"keywords": [
"Port Hamiltonian system; Descriptor system; Balanced reduction; Gramian; flow constraint method"
],
"created_date": "2014-10-08",
"permalink": "port-hamiltonian-system-in-descriptor-form-for-balanced-reduction-application-to-a-nanotweezer",
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{
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{
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{
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},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.12.017"
},
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},
{
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},
{
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},
{
"identifiers": {
"doi": "10.1137/040611677"
},
"citation": "Le Gorrec, Y., Zwart, H. & Maschke, B. Dirac structures and Boundary Control Systems associated with Skew-Symmetric Differential Operators. SIAM J. Control Optim. 44, 1864–1892 (2005)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2011.04.016"
},
"citation": "Macchelli, A. Energy shaping of distributed parameter port-Hamiltonian systems based on finite element approximation. Systems & Control Letters 60, 579–589 (2011)"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2010.01.018"
},
"citation": "Polyuga, R. V. & van der Schaft, A. Structure preserving model reduction of port-Hamiltonian systems by moment matching at infinity. Automatica 46, 665–672 (2010)"
},
{
"identifiers": {
"doi": "10.1109/tac.2011.2128650"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/acc.2013.6580339"
},
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},
{
"identifiers": {
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},
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},
{
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{
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},
{
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"given": "Yann Le",
"family": "Gorrec",
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"given": "Alessandro",
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"abstract": "In this paper, we consider the asymptotic stabilization of a class of one dimensional boundary controlled port Hamiltonian systems by an immersion/reduction approach and the use of Casimir invariants. We first extend existing results on asymptotic stability of linear infinite dimensional systems controlled at their boundary to the case of stable Port Hamiltonian controllers including some physical constraints as clamping. Then the relation between structural invariants, namely Casimir functions, and the controller structure is computed. The Casimirs are employed in the selection of the controllers Hamiltonian to shape the total energy function of the closed loop system and introduce a minimum in the desired equilibrium configuration. The approach is illustrated on the model of a micro manipulation process with partial-actuation on one side of the spatial domain.",
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"volume": "47",
"issue": "3",
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"doi": "10.3182/20140824-6-za-1003.02333"
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"type": "journal-article",
"title": "Design and experimental validation of a hybrid optimal control for DC-DC power converters",
"authors": [
{
"given": "A.R.",
"family": "Meghnous",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
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{
"given": "M.T.",
"family": "Pham",
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{
"given": "X.",
"family": "Lin-Shi",
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{
"given": "D.",
"family": "Patiño",
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"abstract": "In this article, the problem of hybrid optimal control for DC-DC power converters is treated. The designed control is of type bang-bang established from Pontryagin's maximum principle. The control is a state feedback and it is determined using an energy based minimization criterion derived from the power balance of Port-Hamiltonian systems. The developed control has the advantage to be easy to design and simple to implement in real time applications. The proposed control is applied to a SEPIC converter and validated in simulation and experimentation.",
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"publication_year": "2014",
"volume": "47",
"issue": "3",
"pages": "11195--11200",
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{
"identifiers": {
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{
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{
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{
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"id": "068b17ce-192c-5c24-90d5-d7b6f709c1cb",
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"doi": "10.3182/20140824-6-za-1003.02388"
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"type": "journal-article",
"title": "Interconnection and Damping Assignment - Passivity Based Control of Irreversible Port Hamiltonian Systems",
"authors": [
{
"given": "Hector",
"family": "Ramirez",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Yann Le",
"family": "Gorrec",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Bernhard",
"family": "Maschke",
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"abstract": "Irreversible port Hamiltonian systems are a class of pseudo Hamiltonian systems that expresses both the conservation of energy and the irreversible entropy production as a structural property. These systems encompass a large class of irreversible themordynamic systems, such as heat exchangers and chemical reactors, and also multi-energy systems such as coupled mechanic-thermodynamic systems. In recent work the irreversible port-Hamiltonian formulation has been used to derive a closed-loop stability condition using an energy based availability function, generated by the internal energy, as Lyapunov function. This paper presents an important extension of the previous results: the system theoretic interpretation of the stability condition in terms of conjugated inputs and outputs and the formulation of the control as an interconnection and damping assignment - passivity based control problem. A constructive method to derive the stabilizing control law is proposed and the formalism is illustrated on a general CSTR example.",
"container_title": "IFAC Proceedings Volumes",
"publication_year": "2014",
"volume": "47",
"issue": "3",
"pages": "9111--9116",
"publisher": "Elsevier BV",
"event": "19th IFAC World Congress",
"keywords": [
"Irreversible port Hamiltonian systems; Passivity based control; Irreversible thermodynamics; Entropy creation; CSTR"
],
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"references": [
{
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{
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{
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{
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{
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{
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{
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{
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"doi": "10.31857/s0044466923010106"
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"type": "journal-article",
"title": "Learning port-Hamiltonian Systems—Algorithms",
"authors": [
{
"given": "D.",
"family": "Lozienko",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "LaSIE–CNRS & La Rochelle University"
}
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{
"given": "V.",
"family": "Salnikov",
"literal": null,
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"affiliation": [
{
"name": "LaSIE–CNRS & La Rochelle University"
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{
"given": "A.",
"family": "Falaize",
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"affiliation": [
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"name": "LaSIE–CNRS & La Rochelle University"
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"abstract": "In this article we study the possibilities of recovering the structure of port-Hamiltonian systems starting from “unlabelled” ordinary differential equations describing mechanical systems. The algorithm we suggest solves the problem in two phases. It starts by constructing the connectivity structure of the system using machine learning methods – producing thus a graph of interconnected subsystems. Then this graph is enhanced by recovering the Hamiltonian structure of each subsystem as well as the corresponding ports. This second phase relies heavily on results from symplectic and Poisson geometry that we briefly sketch. And the precise solutions can be constructed using methods of computer algebra and symbolic computations. The algorithm permits to extend the port-Hamiltonian formalism to generic ordinary differential equations, hence introducing eventually a new concept of normal forms of ODEs.",
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"publication_year": "2024",
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"publisher": "The Russian Academy of Sciences",
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"abstract": "This paper addresses the problem of sinusoidal voltage generation in linear loads using a voltage source inverter (VSI). The port-Hamiltonian structure in open-loop is used to design a passivity-based controller with proportional-integral gains (PI-PBC) in order to develop the control strategy. The main advantage of using passivity-based controllers corresponds to the possibility of guaranteeing asymptotic stability by transforming the trajectory tracking problem into a regulation control one. In addition to the PI-PBC, a linear load estimator is employed based on an integral formulation to determine the value of the equivalent conductance in the load, which reduces the number of current sensors. Numerical validations demonstrate that the sinusoidal voltage provided by the VSI to the load has a tracking error lower than $1~\\%$, with harmonic distortions lower than $2.6~\\%$, both for voltage and currents in the load. All the simulations were conducted in MATLAB/Simulink using the SimPowerSystems library version 2017a.",
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"type": "journal-article",
"title": "Research on rehabilitation robot control based on port-Hamiltonian systems and fatigue dissipation port compensation",
"authors": [
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"abstract": "IntroductionUpper-limb rehabilitation robots have been demonstrated to effectively promote motor recovery in stroke patients. However, in active training modes, control instability may be induced by the nonlinear and time-varying characteristics of muscle fatigue, increasing the risks of physical human-robot interaction and ultimately limiting rehabilitation outcomes.MethodsA novel control strategy within the port-Hamiltonian framework, incorporating a dynamic muscle fatigue model. Fatigue levels were assessed in real time using surface electromyography (sEMG) signals and mapped to damping parameters in joint space, enabling the port-based modeling of fatigue-related energy dissipation. A hierarchical control architecture was constructed, consisting of outer-loop admittance control and inner-loop energy shaping.ResultsTheoretical analysis confirmed that the closed-loop passivity of the system was preserved and stability was ensured. Experimental validation further showed that, compared to fixed damping parameters, the proposed fatigue compensation approach reduced muscle fatigue accumulation by 45% and increased training duration by 40%.DiscussionThe proposed fatigue-adaptive control framework was shown to enhance the safety, effectiveness, and physiological adaptability of rehabilitation training. The integration of real-time sEMG feedback and port-Hamiltonian modeling offers a promising solution for personalized robotic rehabilitation.",
"container_title": "Frontiers in Bioengineering and Biotechnology",
"publication_year": "2025",
"volume": "13",
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"pages": "",
"publisher": "Frontiers Media SA",
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"created_date": "2025-05-23",
"permalink": "research-on-rehabilitation-robot-control-based-on-port-hamiltonian-systems-and-fatigue-dissipation-port-compensation",
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"abstract": "For frequency and voltage stability control of grid-forming converters in high-power electronic scenarios, this paper proposes a grid-forming converter grid-connection stability control strategy based on passive control and deep reinforcement learning. Firstly, the virtual synchronous generator (VSG) is written in the port-Hamiltonian form to clarify the interconnection and dissipative structure, and the achievable passive control law is obtained by energy shaping and damping injection. Then, DDPG is introduced to adjust the damping parameters online, so that the control has adaptive ability under multiple working conditions, and the closed-loop system is proved to be asymptotically stable based on Lyapunov function. Finally, the simulation example analysis is carried out. In the simulation of power mutation, voltage imbalance, short-circuit fault and load change, this method significantly reduces the overshoot and adjustment time compared with VSG-PI and fixed parameter PBC, and improves the steady-state error and energy dissipation rate. The simulation results verify the effectiveness of the combination of physical consistency and strategy adaptation.",
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"abstract": "Time-domain simulation of woodwind instruments typically involves the development of separate discrete-time sub-models for the excitation mechanism and the resonator. These components have largely been modeled via digital waveguide or finite-difference time-domain (FDTD) methods. We present a separate approach based on the modular and energy-based port-Hamiltonian system (PHS) framework. We recast the three main components of a woodwind instrument—the single-reed, the bore, and the tonehole—as PHS models and incorporate novel elements in each derivation. In the beating reed model, we make use of recent work on energy quadratization to formulate a linearly implicit scheme of the nonlinear Hunt-Crossley contact force coupled to a nonlinear Bernoulli flow. In the horn model, we discretize a distributed PHS representing the horn equation with a generalized symplectic Störmer-Verlet scheme, verifying previously proposed FDTD schemes. In the tonehole model, we propose a new low-frequency model of the tonehole and model note transitions with a switching PHS. The benefit of describing each element as a PHS is demonstrated by the ability to interconnect all sub-models in a modular and energy-conserving manner to simulate a complete instrument. Simulations are performed on a test instrument and the numerical stability of the overall scheme is demonstrated.",
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"abstract": "In this paper, the infinite-dimensional port-Hamiltonian modelling and control problem of a flexible beam actuated using ionic polymer metal composite (IPMC) actuators is investigated. The port-Hamiltonian framework is used to propose an interconnected control model of the mechanical flexible beam and the IPMC actuator. The mechanical flexible dynamic is modelled as a Timoshenko beam, and the electric dynamics of the IPMCs are considered in the model. Furthermore, a passivity-based control-strategy is used to obtain the desired configuration of the proposed interconnected system, and the closed-loop stability is analyzed using the early lumped approach. Lastly, numerical simulations and experimental results are presented to validate the proposed model and the effectiveness of the proposed control law.",
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"doi": "10.1016/j.jcp.2018.06.051"
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"citation": "Trenchant, V., Ramirez, H., Le Gorrec, Y. & Kotyczka, P. Finite differences on staggered grids preserving the port-Hamiltonian structure with application to an acoustic duct. Journal of Computational Physics vol. 373 673–697 (2018)"
},
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"doi": "10.1016/j.ifacol.2016.07.457"
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"citation": "Kotyczka, P. Finite Volume Structure-Preserving Discretization of 1D Distributed-Parameter Port-Hamiltonian Systems. IFAC-PapersOnLine vol. 49 298–303 (2016)"
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"doi": "10.1093/imamci/dnaa018"
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},
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"identifiers": {
"doi": "10.3166/ejc.10.432-450"
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"citation": "Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control vol. 10 432–450 (2004)"
},
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"identifiers": {
"doi": "10.1007/s11012-015-0164-6"
},
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"identifiers": {
"doi": "10.3390/act15090457"
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"type": "journal-article",
"title": "Feedback-Linearization-Assisted Observer-Based Interconnection and Damping Assignment Passivity Control for Electromechanical Actuators",
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"given": "Xi",
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"name": "College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"
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{
"name": "Aviation Key Laboratory of Science and Technology on Aero Electromechanical System, Nanjing 210012, China"
}
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"name": "College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"
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"name": "College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"
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"abstract": "Electromechanical actuators (EMAs) are increasingly used in aerospace servo actuation because of their compact structure, high power density, and convenient integration with electric flight-control systems. However, load-side aerodynamic torque, friction, parameter perturbations, and unmodeled transmission effects enter the EMA dynamics through a channel different from the motor-current input, which leads to a mismatched disturbance rejection problem. This paper develops a feedback-linearization-assisted observer-based interconnection and damping assignment passivity-based control (IDA-PBC) method for EMA trajectory tracking. A fourth-order input–output feedback-linearized normal-coordinate model is first derived, through which the original load-side mismatched disturbance is transformed into a matched term acting on the highest-order channel. An extended state observer is then constructed to estimate the transformed disturbance. Based on the observer output, a desired Hamiltonian function is generated from a Lyapunov equation, and the interconnection and damping matrices are explicitly assigned so that the closed-loop tracking-error dynamics admit a dissipative port-Hamiltonian representation. A composite Lyapunov analysis proves closed-loop exponential stability under the assumption of slowly varying disturbance. The resulting framework combines the disturbance-channel-reshaping capability of feedback linearization with the energy-shaping interpretation of IDA-PBC, providing a systematic controller design for high-precision EMA servo systems subject to load-side disturbances.",
"container_title": "Actuators",
"publication_year": "2026",
"volume": "15",
"issue": "9",
"pages": "457",
"publisher": "MDPI AG",
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"created_date": "2026-08-24",
"permalink": "feedback-linearization-assisted-observer-based-interconnection-and-damping-assignment-passivity-control-for-electromechanical-actuators",
"references": [
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1016/j.mechatronics.2022.102794"
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},
{
"identifiers": {
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{
"identifiers": {
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{
"identifiers": {
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},
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},
{
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{
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{
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"doi": "10.3390/app12189086"
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"type": "journal-article",
"title": "A Reversible Hydropump–Turbine System",
"authors": [
{
"given": "Luis Miguel",
"family": "Esquivel-Sancho",
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"name": "School of Electronics Enginering, Costa Rica Institute of Technology, San Carlos Campus, Alajuela 21002, Costa Rica"
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{
"given": "Mauricio",
"family": "Muñoz-Arias",
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"name": "Faculty of Science and Engineering, University of Groningen, Nijenborh 4, 9747AG Groningen, The Netherlands"
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{
"given": "Hayden",
"family": "Phillips-Brenes",
"literal": null,
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"name": "Doctorado en Ciencias Naturales para el Desarrollo (DOCINADE), Instituto Tecnológico de Costa Rica, Universidad Nacional, Universidad Estatal a Distancia, Heredia 40101, Costa Rica"
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{
"given": "Roberto",
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"abstract": "Water-pumped storage systems have become an ideal alternative to regulate the intermittent power delivered by renewable energy sources. For small-scale operations, a type of centrifugal pump coupled to asynchronous machines represents an adequate solution due to their techno-economic feasibility in addition to their ability to operate as reversible systems. This work provides a novel port-Hamiltonian modelling approach to an integrated reversible hydropump–turbine system, that can be switched from motor pump to turbine-generator by employing a conventional hydraulic switch. Our modelling strategy provides a clear physical interpretation of the energy flow from the mechanical to electrical domains. Then, the model was built with multi-domain storing and dissipating elements and the interconnection of well-defined input–output port pairs. The system’s internal energy, i.e., Hamiltonian function, can be exploited for energy-shaping control strategies. The performance of our modelling approach is validated via numerical simulations.",
"container_title": "Applied Sciences",
"publication_year": "2022",
"volume": "12",
"issue": "18",
"pages": "9086",
"publisher": "MDPI AG",
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"references": [
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"type": "journal-article",
"title": "Port-Hamiltonian Formulations of Some Elastodynamics Theories of Isotropic and Linearly Elastic Shells: Naghdi–Reissner’s Moderately Thick Shells",
"authors": [
{
"given": "Miguel",
"family": "Charlotte",
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"name": "Institut Clément ADER, Université de Toulouse, ISAE-SUPAERO, INSA, UTIII, IMT Mines Albi, CNRS, 31400 Toulouse, France"
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"given": "Ignacio Fernandez",
"family": "Núnez",
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"name": "ISAE-SUPAERO, Université de Toulouse, 31055 Toulouse, France"
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{
"given": "Yves",
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"name": "Institut Clément ADER, Université de Toulouse, ISAE-SUPAERO, INSA, UTIII, IMT Mines Albi, CNRS, 31400 Toulouse, France"
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"abstract": "The port-Hamiltonian system approach is intended to be an innovative and unifying way of modeling multiphysics systems, by expressing all of them as systems of conservation laws. Indeed, the increasing developments in recent years allow finding better control and coupling strategies. This work aimed to apply such an approach to Naghdi–Reissner’s five-kinematic-field shell model in linear elasticity, while including often-neglected higher-order intrinsic geometric coupling effects, therefore preparing the theoretical background required for the coupling (or interconnection) with an acoustic fluid model and the different types of interactions that can arise among them. The model derived thusly can be used for controller design in a wide variety of applications such as inflatable space structures, launcher tank vibration damping, payload vibration protection using smart materials, and many other related applications.",
"container_title": "Applied Sciences",
"publication_year": "2023",
"volume": "13",
"issue": "4",
"pages": "2608",
"publisher": "MDPI AG",
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"permalink": "port-hamiltonian-formulations-of-some-elastodynamics-theories-of-isotropic-and-linearly-elastic-shells-naghdi-reissner-s-moderately-thick-shells",
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"abstract": "Satellite formation flying technology currently represents a focal point in space mission research. Traditional spacecraft payload performance and lifespan are often constrained by propellant limitations. Electromagnetic Formation Flying (EMFF), a propellant-free formation flying technique, has garnered widespread attention. Its inherent strong nonlinearity and coupling present challenges for high-precision control within EMFF. This paper presents the relative motion dynamics of a two-satellite EMFF in the port-Hamiltonian framework and constructs an accurate nonlinear model of the dynamics. Utilizing the concept of Interconnection and Damping Assignment and nonlinear disturbance observer, a composite disturbance-rejection passivity-based controller is designed, offering a method for controlling the magnetic dipole strength of formation satellites. Finally, numerical simulations are conducted to demonstrate the viability of the proposed dynamics model and control strategy.",
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"title": "Trajectory Tracking via Interconnection and Damping Assignment Passivity-Based Control for a Permanent Magnet Synchronous Motor",
"authors": [
{
"given": "Daniel Sting",
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"name": "Centre de Recherche Royallieu, Roberval (Mechanics, Energy and Electricity), Université de Technologie de Compiègne, CS 60319, CEDEX, 60203 Compiègne, France"
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"given": "San Jose",
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"name": "Facultad de Ingeniería, Universidad Nacional Autónoma de México, Ciudad de México 04510, Mexico"
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"given": "Ricardo",
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"name": "Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, San Luis Potosí 78290, Mexico"
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"given": "Mario Arturo",
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"abstract": "This paper presents a controller design to track speed, position, and torque trajectories for a permanent magnet synchronous motor (PMSM). This scheme is based on the interconnection and damping assignment passivity-based control (IDA-PBC) technique recently proposed to solve the tracking control problem for mechanical underactuated systems. The proposed approach regulates the dynamics of the tracking system error at the origin, assuming the realizable trajectories preserve the motor’s port-controlled Hamiltonian structure. The importance of the contribution is two-fold: First, from the theoretical perspective, the trajectory tracking control problem is solved with proved stability properties, a topic that has not been deeply studied with the IDA-PBC methodology design. Second, from the practical point of view, the proposed control scheme exhibits a simple structure for practical implementation and strong robustness properties with respect to parametric uncertainties. The contribution is evaluated under both numerical and experimental environments considering a speed profile that demands the achievement of high dynamic performances.",
"container_title": "Applied Sciences",
"publication_year": "2024",
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"issue": "17",
"pages": "7977",
"publisher": "MDPI AG",
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"references": [
{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1109/tie.2023.3288147"
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1016/j.egyr.2021.12.075"
},
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{
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},
{
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},
{
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},
{
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},
{
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{
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{
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},
{
"identifiers": {
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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{
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{
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"doi": "10.3390/app6100273"
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"type": "journal-article",
"title": "Passive Guaranteed Simulation of Analog Audio Circuits: A Port-Hamiltonian Approach",
"authors": [
{
"given": "Antoine",
"family": "Falaize",
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"name": "Project-team S3 (Sound Signals and Systems) and Analysis/Synthesis team, Laboratory of Sciences and Technologies of Music and Sound (UMR 9912), IRCAM-CNRS-UPMC, 1 Place Igor Stravinsky, Paris 75004, France"
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"given": "Thomas",
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"name": "Project-team S3 (Sound Signals and Systems) and Analysis/Synthesis team, Laboratory of Sciences and Technologies of Music and Sound (UMR 9912), IRCAM-CNRS-UPMC, 1 Place Igor Stravinsky, Paris 75004, France"
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"abstract": "We present a method that generates passive-guaranteed stable simulations of analog audio circuits from electronic schematics for real-time issues. On one hand, this method is based on a continuous-time power-balanced state-space representation structured into its energy-storing parts, dissipative parts, and external sources. On the other hand, a numerical scheme is especially designed to preserve this structure and the power balance. These state-space structures define the class of port-Hamiltonian systems. The derivation of this structured system associated with the electronic circuit is achieved by an automated analysis of the interconnection network combined with a dictionary of models for each elementary component. The numerical scheme is based on the combination of finite differences applied on the state (with respect to the time variable) and on the total energy (with respect to the state). This combination provides a discrete-time version of the power balance. This set of algorithms is valid for both the linear and nonlinear case. Finally, three applications of increasing complexities are given: a diode clipper, a common-emitter bipolar-junction transistor amplifier, and a wah pedal. The results are compared to offline simulations obtained from a popular circuit simulator.",
"container_title": "Applied Sciences",
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"issue": "10",
"pages": "273",
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"identifiers": {
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{
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{
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{
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},
{
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{
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{
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"identifiers": {
"doi": "10.3390/computation12080155"
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"type": "journal-article",
"title": "A Novel Mixed Finite/Infinite Dimensional Port–Hamiltonian Model of a Mechanical Ventilator",
"authors": [
{
"given": "Milka C. I.",
"family": "Madahana",
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"affiliation": [
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"name": "School of Mining Engineering, University of the Witwatersrand, 2nd Floor, ARM Building, 1 Jan Smuts Avenue, Braamfontein, Johannesburg 2017, South Africa"
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{
"given": "John E. D.",
"family": "Ekoru",
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"sequence": "additional",
"affiliation": [
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"name": "School of Electrical and Information Engineering, University of the Witwatersrand, 2nd Floor, ARM Building, 1 Jan Smuts Avenue, Braamfontein, Johannesburg 2017, South Africa"
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{
"given": "Otis T. C.",
"family": "Nyandoro",
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"name": "School of Electrical and Information Engineering, University of the Witwatersrand, 2nd Floor, ARM Building, 1 Jan Smuts Avenue, Braamfontein, Johannesburg 2017, South Africa"
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"abstract": "Mechanical ventilation is a life-saving treatment for critically ill patients who are struggling to breathe independently due to injury or disease. Globally, per year, there has always been a large number of individuals who have required mechanical ventilation. The COVID-19 pandemic brought to light the significance of mechanical ventilation, which played a significant role in sustaining COVID-19-infected critically ill patients who could not breathe on their own. The pandemic drew the attention of the world to the shortage of ventilators globally. Some of the challenges to providing an adequate number of ventilators include: increased demand for ventilators, supply chain disruptions, manufacturing constraints, distribution inequalities, financial constraints, maintenance and logistics difficulties, training and expertise shortages, and the lack of design and development of affordable mechanical ventilators that satisfy the stipulated requirements. This research work presents the formulation of a detailed Port–Hamiltonian model of a mechanical ventilator integrated with the human respiratory system. The interconnection and coupling conditions for the various subsystems within the mechanical ventilator and the coupling between the mechanical ventilator and the human respiratory system are also presented. Structure-preserving discretization is provided alongside numerical simulations and results. The obtained results are found to be comparable to results presented in the literature. Future work will include the design of suitable controllers for the system.",
"container_title": "Computation",
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"volume": "12",
"issue": "8",
"pages": "155",
"publisher": "MDPI AG",
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"keywords": [],
"created_date": "2024-07-31",
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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{
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{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1016/j.cma.2016.08.010"
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},
{
"identifiers": {
"doi": "10.1155/2021/2499804"
},
"citation": "Tran, A. S., Thinh Ngo, H. Q., Dong, V. K. & Vo, A. H. Design, Control, Modeling, and Simulation of Mechanical Ventilator for Respiratory Support. Mathematical Problems in Engineering vol. 2021 1–15 (2021)"
},
{
"identifiers": {
"doi": "10.1016/j.chaos.2021.111169"
},
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},
{
"identifiers": {
"doi": "10.1007/s41403-020-00118-6"
},
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},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2022.11.165"
},
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},
{
"identifiers": {
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},
"citation": "Al-Naggar, N. Q. Modelling and Simulation of Pressure Controlled Mechanical Ventilation System. Journal of Biomedical Science and Engineering vol. 08 707–716 (2015)"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
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},
{
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},
{
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},
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{
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},
{
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},
{
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{
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}
]
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{
"id": "2cc741e9-c2a7-5fee-907a-5cf3dc4e6177",
"identifiers": {
"doi": "10.3390/dynamics4040042"
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"type": "journal-article",
"title": "Structural Decomposition of the Passivity-Based Control System of Wind–Solar Power Generating and Hybrid Battery-Supercapacitor Energy Storage Complex",
"authors": [
{
"given": "Ihor",
"family": "Shchur",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0001-7346-1463",
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"sequence": "first",
"affiliation": [
{
"name": "Institute of Power Engineering and Control Systems, Lviv Polytechnic National University, 12, Bandera Str., 70013 Lviv, Ukraine"
}
]
}
},
{
"given": "Marek",
"family": "Lis",
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"affiliation": [
{
"name": "Faculty of Electrical Engineering, Czestochowa University of Technology, 42-201 Czestochowa, Poland"
}
]
}
},
{
"given": "Rostyslav-Ivan",
"family": "Kuzyk",
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"name": "Institute of Power Engineering and Control Systems, Lviv Polytechnic National University, 12, Bandera Str., 70013 Lviv, Ukraine"
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],
"abstract": "Wind–solar power generating and hybrid battery-supercapacitor energy storage complex is used for autonomous power supply of consumers in remote areas. This work uses passivity-based control (PBC) for this complex in accordance with the accepted energy management strategy (EMS). Structural and parametric synthesis of the overall PBC system was carried out, which was accompanied by a significant amount of research. In order to simplify this synthesis, a structural decomposition of the overall dynamic system of the object presented in the form of a port-Hamiltonian system, which was described by a system of differential equations of the seventh order, into three subsystems was applied. These subsystems are a wind turbine, a PV plant, and a hybrid battery-supercapacitor system. For each of the subsystems, it is quite simple to synthesize the control influence formers according to the interconnections and damping assignment (IDA) method of PBC, which locally performs the tasks set by the EMS. The results obtained by computer simulation of the overall and decomposed systems demonstrate the effectiveness of this approach in simplifying synthesis and debugging procedures of complex multi-physical systems.",
"container_title": "Dynamics",
"publication_year": "2024",
"volume": "4",
"issue": "4",
"pages": "830--844",
"publisher": "MDPI AG",
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"keywords": [],
"created_date": "2024-11-06",
"permalink": "structural-decomposition-of-the-passivity-based-control-system-of-wind-solar-power-generating-and-hybrid-battery-supercapacitor-energy-storage-complex",
"references": [
{
"identifiers": {
"doi": "10.5772/intechopen.77440"
},
"citation": "Wind Solar Hybrid Renewable Energy System. (2020) doi:10.5772/intechopen.77440"
},
{
"identifiers": {
"doi": "10.1051/e3sconf/202339101111"
},
"citation": "Rekha, M., Laxman, K., Vamshikrishna, J., Lohith, M. & Pranavrai, P. Wind-Solar Hybrid System for Domestic Utility. E3S Web of Conferences vol. 391 01111 (2023)"
},
{
"identifiers": {
"doi": "10.2516/stet/2023008"
},
"citation": "Muller, D. C., Selvanathan, S. P., Cuce, E. & Kumarasamy, S. Hybrid solar, wind, and energy storage system for a sustainable campus: A simulation study. Science and Technology for Energy Transition vol. 78 13 (2023)"
},
{
"identifiers": {
"doi": "10.1016/j.rineng.2023.101621"
},
"citation": "Hassan, Q., Algburi, S., Sameen, A. Z., Salman, H. M. & Jaszczur, M. A review of hybrid renewable energy systems: Solar and wind-powered solutions: Challenges, opportunities, and policy implications. Results in Engineering vol. 20 101621 (2023)"
},
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"title": "Geometry of Thermodynamic Processes",
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"given": "Arjan",
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"abstract": "Since the 1970s, contact geometry has been recognized as an appropriate framework for the geometric formulation of thermodynamic systems, and in particular their state properties. More recently it has been shown how the symplectization of contact manifolds provides a new vantage point; enabling, among other things, to switch easily between the energy and entropy representations of a thermodynamic system. In the present paper, this is continued towards the global geometric definition of a degenerate Riemannian metric on the homogeneous Lagrangian submanifold describing the state properties, which is overarching the locally-defined metrics of Weinhold and Ruppeiner. Next, a geometric formulation is given of non-equilibrium thermodynamic processes, in terms of Hamiltonian dynamics defined by Hamiltonian functions that are homogeneous of degree one in the co-extensive variables and zero on the homogeneous Lagrangian submanifold. The correspondence between objects in contact geometry and their homogeneous counterparts in symplectic geometry, is extended to the definition of port-thermodynamic systems and the formulation of interconnection ports. The resulting geometric framework is illustrated on a number of simple examples, already indicating its potential for analysis and control.",
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"abstract": "In this study, the design of an adaptive terminal sliding mode controller for the stabilization of port Hamiltonian chaotic systems with hidden attractors is proposed. This study begins with the design methodology of a chaotic oscillator with a hidden attractor implementing the topological framework for its respective design. With this technique it is possible to design a 2-D chaotic oscillator, which is then converted into port-Hamiltonia to track and analyze these models for the stabilization of the hidden chaotic attractors created by this analysis. Adaptive terminal sliding mode controllers (ATSMC) are built when a Hamiltonian system has a chaotic behavior and a hidden attractor is detected. A Lyapunov approach is used to formulate the adaptive device controller by creating a control law and the adaptive law, which are used online to make the system states stable while at the same time suppressing its chaotic behavior. The empirical tests obtaining the discussion and conclusions of this thesis should verify the theoretical findings.",
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"title": "Modeling and Analysis of a Three-Terminal-Memristor-Based Conservative Chaotic System",
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"given": "Ze",
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"name": "Tianjin Key Laboratory of Advanced Technology of Electrical Engineering and Energy, Tiangong University, Tianjin 300387, China"
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"abstract": "In this paper, a three-terminal memristor is constructed and studied through changing dual-port output instead of one-port. A new conservative memristor-based chaotic system is built by embedding this three-terminal memristor into a newly proposed four-dimensional (4D) Euler equation. The generalized Hamiltonian energy function has been given, and it is composed of conservative and non-conservative parts of the Hamiltonian. The Hamiltonian of the Euler equation remains constant, while the three-terminal memristor’s Hamiltonian is mutative, causing non-conservation in energy. Through proof, only centers or saddles equilibria exist, which meets the definition of the conservative system. A non-Hamiltonian conservative chaotic system is proposed. The Hamiltonian of the conservative part determines whether the system can produce chaos or not. The non-conservative part affects the dynamic of the system based on the conservative part. The chaotic and quasiperiodic orbits are generated when the system has different Hamiltonian levels. Lyapunov exponent (LE), Poincaré map, bifurcation and Hamiltonian diagrams are used to analyze the dynamical behavior of the non-Hamiltonian conservative chaotic system. The frequency and initial values of the system have an extensive variable range. Through the mechanism adjustment, instead of trial-and-error, the maximum LE of the system can even reach an incredible value of 963. An analog circuit is implemented to verify the existence of the non-Hamiltonian conservative chaotic system, which overcomes the challenge that a little bias will lead to the disappearance of conservative chaos.",
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"title": "An Overview on Irreversible Port-Hamiltonian Systems",
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"name": "Departamento de Electrónica, Universidad Técnica Federico Santa María, 2390123 Valparaiso, Chile"
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"name": "Département d’Automatique et Systèmes Micro-Mécatroniques, FEMTO-ST UMR CNRS 6174, Université de Bourgogne Franche Comté, 25030 Besançon, France"
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"abstract": "A comprehensive overview of the irreversible port-Hamiltonian system’s formulation for finite and infinite dimensional systems defined on 1D spatial domains is provided in a unified manner. The irreversible port-Hamiltonian system formulation shows the extension of classical port-Hamiltonian system formulations to cope with irreversible thermodynamic systems for finite and infinite dimensional systems. This is achieved by including, in an explicit manner, the coupling between irreversible mechanical and thermal phenomena with the thermal domain as an energy-preserving and entropy-increasing operator. Similarly to Hamiltonian systems, this operator is skew-symmetric, guaranteeing energy conservation. To distinguish from Hamiltonian systems, the operator depends on co-state variables and is, hence, a nonlinear-function in the gradient of the total energy. This is what allows encoding the second law as a structural property of irreversible port-Hamiltonian systems. The formalism encompasses coupled thermo-mechanical systems and purely reversible or conservative systems as a particular case. This appears clearly when splitting the state space such that the entropy coordinate is separated from other state variables. Several examples have been used to illustrate the formalism, both for finite and infinite dimensional systems, and a discussion on ongoing and future studies is provided.",
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"abstract": "Real-world autonomous agents learn under nonstationarity, safety constraints, and finite energetic budgets. We develop a framework for perennial learning—agents that continuously refine their models while provably controlling the cost of forgetting—by unifying three classical pillars: Kolmogorov complexity, which equates scientific discovery with algorithmic compression; Landauer’s principle, which assigns a minimal thermodynamic cost of kBTln2 per erased bit to every irreversible model update; and port-Hamiltonian (PH) dynamics, whose (J−R)∇H decomposition separates zero-cost reversible inference from costly irreversible forgetting by construction. The Maxwell demon analogy is formalized: each learning episode is a Szilard cycle in which information acquisition, belief transport, and memory erasure must balance thermodynamically. The information-distance framework, comprising the normalized information distance (NID) and normalized compression distance (NCD), provides a computable geometry for measuring learning progress and guiding curriculum design. We separate theideal uncomputable regularizer based on prefix complexity from the practical compressor/MDL (minimum description length) surrogate that appears in optimization and prove a calibration lemma linking the two under a mild uniform-accuracy assumption. Under explicit regularity, compact-sublevel, and non-energy-extracting assumptions, we prove a passivity speed limit for curriculum-induced contractions of the effective feasible set. Under local asymptotic normality, we reprove that Fisher information is a local posterior codelength proxy rather than an exact theorem about algorithmic entropy. A conditional sequential information-budget proposition shows that the per-stage sample requirement scales as O˜(Δkt/λ⋆), where Δkt is the number of materially changed model coordinates (not the total model complexity kt); the k3→Δk improvement is conditional on a warm-start assumption and a chosen cold-start baseline. A double-integrator running example with a moving obstacle illustrates the architecture.",
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"abstract": "This paper aims to describe a synthesis procedure for discrete-time, energy-based regulators for continuous-time port-Hamiltonian systems. The methodology consists of three steps. The first deals with the definition of a discrete-time approximation of the plant, which is subsequently employed in the development of the control law. The discrete-time model is obtained from the continuous-time dynamics by replacing the gradient of the Hamiltonian function with a discrete gradient. In this way, passivity, with the energy as storage function, is preserved, although the resulting state equation is in implicit form. The second step concerns the control synthesis and extends the continuous-time energy-shaping plus damping injection design technique to the proposed class of discrete-time port-Hamiltonian systems. Finally, the last step addresses the interconnection between the digital controller and the continuous-time plant. The coupling is implemented via a zero-order hold and relies on the solution of an optimization problem that determines the “best” and “minimal” correction to be applied to the nominal control action in order to achieve the same performance as that obtained when the regulator is connected in closed loop with the discrete-time model of the plant. This is the reference scenario used to develop and tune the control law. The complete procedure (time discretisation, control design, and coupling implementation) is illustrated through an example.",
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"name": "Department of Electrical Engineering, Incheon National University, (Songdo-dong) 119 Academy-ro, Yeonsu-gu, Incheon 22012, Korea"
},
{
"name": "School of Information and Electrical Engineering, Harbin Institute of Technology at Weihai, No.2 in Wenhua Xi Road, Weihai 264209, China"
}
]
}
},
{
"given": "Thai-Thanh",
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},
{
"given": "Hak-Man",
"family": "Kim",
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"name": "Department of Electrical Engineering, Incheon National University, (Songdo-dong) 119 Academy-ro, Yeonsu-gu, Incheon 22012, Korea"
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},
{
"given": "Huihui",
"family": "Song",
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"name": "School of Information and Electrical Engineering, Harbin Institute of Technology at Weihai, No.2 in Wenhua Xi Road, Weihai 264209, China"
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},
{
"given": "Yanbin",
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"name": "School of Information and Electrical Engineering, Harbin Institute of Technology at Weihai, No.2 in Wenhua Xi Road, Weihai 264209, China"
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"abstract": "Battery energy storage systems (BESSs) with proportional-integral (PI) control methods have been widely studied in microgrids (MGs). However, the performance of PI control methods might be unsatisfactory for BESSs due to the nonlinear characteristics of the system. To overcome this problem, an energy-based (EB) control method is applied to control the converter of a BESS in this study. The EB method is a robust nonlinear control method based on passivity theory with good performance in both transient and steady states. The detailed design process of the EB method in the BESS by adopting an interconnection and damping assignment (IDA) strategy is described. The design process comprises three steps: the construction of the port-controlled Hamiltonian model, the determination of the equilibrium point and the solution of the undetermined matrix. In addition, integral action is combined to eliminate the steady state error generated by the model mismatch. To establish the correctness and validity of the proposed method, we implement several case simulation studies based on a test MG system and compare the control performance of the EB and PI methods carefully. The case simulation results demonstrate that the EB method has better tracking and anti-disturbance performance compared with the classic PI method. Moreover, the proposed EB method shows stronger robustness to the uncertainty of system parameters.",
"container_title": "Energies",
"publication_year": "2017",
"volume": "10",
"issue": "2",
"pages": "215",
"publisher": "MDPI AG",
"event": "",
"keywords": [],
"created_date": "2017-05-02",
"permalink": "an-energy-based-control-strategy-for-battery-energy-storage-systems-a-case-study-on-microgrid-applications",
"references": [
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{
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"identifiers": {
"doi": "10.3390/en10081139"
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"type": "journal-article",
"title": "Passivity-Based Control of a Doubly Fed Induction Generator System under Unbalanced Grid Voltage Conditions",
"authors": [
{
"given": "Jiawei",
"family": "Huang",
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"affiliation": [
{
"name": "College of Energy and Electrical Engineering, Hohai University, Nanjing 211100, China"
}
]
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{
"given": "Honghua",
"family": "Wang",
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{
"name": "College of Energy and Electrical Engineering, Hohai University, Nanjing 211100, China"
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{
"given": "Chong",
"family": "Wang",
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"affiliation": [
{
"name": "Department of Electrical & Computer Engineering, Iowa State University, Ames, IA 50011, USA"
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"abstract": "According to the theory of passivity-based control (PBC), this paper establishes a port-controlled Hamiltonian system with dissipation (PCHD) model for a doubly fed induction generator (DFIG) system under unbalanced grid voltage conditions and proposes a method of interconnection and damping assignment passivity-based control (IDA-PBC) of the system under such conditions. By using this method, the rotor-side converter and grid-side converter can be controlled simultaneously in order to improve fault ride-through capability of the DFIG system. Simulation results indicate that this IDA-PBC strategy effectively suppresses fluctuations of output current and power in the DFIG system during unbalanced grid voltage sag/swell, enhances dynamic performance, and improves the robustness of the system.",
"container_title": "Energies",
"publication_year": "2017",
"volume": "10",
"issue": "8",
"pages": "1139",
"publisher": "MDPI AG",
"event": "",
"keywords": [],
"created_date": "2017-08-03",
"permalink": "passivity-based-control-of-a-doubly-fed-induction-generator-system-under-unbalanced-grid-voltage-conditions",
"references": [
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{
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{
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{
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}
]
},
{
"id": "05f78a13-363a-54b8-b135-4c85545c8884",
"identifiers": {
"doi": "10.3390/en12061062"
},
"type": "journal-article",
"title": "Simultaneous Power Flow Decouple and Converter Gain Design for Electric Vehicle to Grid System",
"authors": [
{
"given": "Liangcheng",
"family": "Cai",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "School of Electrical Engineering, Southwest JiaoTong University, Chengdu 610031, China"
}
]
}
}
],
"abstract": "This paper presents a novel idea based on the Port-Hamiltonian and cascade system to control the electric vehicle-to-grid (V2G) system. Based on the proposed method, the relationship between the converter plant gain and the moment of inertia of generator that has been established is effective for decoupled control of the V2G system. It is well known that the existing methods apply the H ∞ control and PSO method to enumerate and choose the value of converter plant gain from the region decided by the state of charge. Since an explicit form of converter plant gain is obtain in this paper, the proposed method that is unnecessary to repeat the above existing details effectively reduces the calculated amount of converter plant gain. Finally, the simulations demonstrate the validity and advantage of the proposed method.",
"container_title": "Energies",
"publication_year": "2019",
"volume": "12",
"issue": "6",
"pages": "1062",
"publisher": "MDPI AG",
"event": "",
"keywords": [],
"created_date": "2019-03-19",
"permalink": "simultaneous-power-flow-decouple-and-converter-gain-design-for-electric-vehicle-to-grid-system",
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{
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{
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{
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"abstract": "In this paper, the adaptive robust simultaneous stabilization problem of two ships is studied. Firstly, the water surface three-degree-of-freedom ship models are transformed into port-controlled Hamiltonian (PCH) models. Using a single output feedback controller, the two PCH systems are combined to generate an enhanced PCH system based on Hamiltonian structural attributes. Then, considering the situation with both external interference and structural parameter perturbation in the systems, an adaptive robust output feedback controller is designed to stabilize the two systems simultaneously. Finally, the effectiveness of the controller proposed in this paper is illustrated by a simulation example.",
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"title": "Smooth-Switching Control of Robot-Based Permanent-Magnet Synchronous Motors via Port-Controlled Hamiltonian and Feedback Linearization",
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"given": "Anxing",
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"name": "College of Automation, Qingdao University, Qingdao 266071, China"
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"abstract": "To solve the contradiction between dynamic performance and steady-state performance of the robot system, a smooth-switching control strategy is proposed. By combining robot and motor model, the complete model of the robot driving system is established. The single-loop Feedback Linearization (FL) controller and Port-Controlled Hamiltonian (PCH) controller based on the complete model are derived to ensure the rapidity and stability of the system respectively. A smooth-switching function based on position error is designed. It can ensure the smooth-switching between two controllers and avoid the instability caused by switch-switching. The proposed algorithm can make the robot system have good dynamic and steady performance. Simulation and experiment results demonstrate the effectiveness of the smooth-switch control strategy.",
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"title": "A Nonlinear Control Strategy for DC-DC Converter with Unknown Constant Power Load Using Damping and Interconnection Injecting",
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"abstract": "DC-DC converters with constant power loads are mostly used in DC microgrids. Negative impedance and large disturbances of constant power loads may lead to the instability of DC-DC converters. To address this issue, a nonlinear control strategy consisting of an improved passivity-based controller and nonlinear power observer is proposed in this paper. First, an improved passivity-based controller is designed based on the port-controlled Hamiltonian with dissipation model. By proper damping and interconnection injecting, the fast dynamic response of output voltage and stability of the DC-DC converter is achieved. Second, the constant power load is observed by a nonlinear power observer, which is adopted to estimate the power variation of the constant power load within a small settling time and improve the adaptability of the DC-DC converter under power disturbance. Finally, the simulation and experimental results are presented, which illustrate the proposed control strategy not only ensures the stability of the DC-DC converter under large disturbances, but also can track the desired operating point with low voltage overshoot in no more than 10 milliseconds.",
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"references": [
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{
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"type": "journal-article",
"title": "Port-Hamiltonian Mathematical Model of a Fluid Ring Attitude System",
"authors": [
{
"given": "Juan Cristobal",
"family": "Alcaraz Tapia",
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"given": "Carlos E.",
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"given": "Héctor",
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"abstract": "In this article, we propose a mathematical model using the port-Hamiltonian formalism for a satellite’s three-axis attitude system comprising fluid rings. Fluid rings are an alternative to reaction wheels used for the same purpose, since, for the same mass, they can exert a greater torque than a reaction wheel as the fluid can circulate the periphery of the satellite. The port-Hamiltonian representation lays the foundation for a posterior controller that is feasible, stable, and robust based on the interconnection of the system to energy shaping and/or damping injection components, and by adding energy routing controllers. The torques exerted by the fluid rings are modeled using linear regression analysis on the experimental data got from a prototype of a fluid ring. Since the dynamics of turbulent flows is complex, the torques obtained by the prototype lead to a simpler first approach, leaving its uncertainties to a controller. Thus, the attitude system model could be tested in a future prototype before considering a spatial environment.",
"container_title": "Energies",
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"volume": "14",
"issue": "21",
"pages": "6906",
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"abstract": "This paper develops a contraction-certified trajectory-tracking and gain-selection framework for fully actuated autonomous underwater vehicles on SE(3). The vehicle dynamics are represented in port-Hamiltonian form with a Rayleigh-type dissipation potential, and a dual potential shaping controller provides an energy-structured rotational–translational cascade. Regional contraction certificates are derived separately for the rotational and translational subsystems. The rotational analysis uses fixed left-trivialised momentum coordinates and retains anisotropic-inertia effects and the complete off-diagonal differential coupling. The translational analysis applies to a general known symmetric positive-definite inertia matrix through an attitude-cover semidefinite programme, with an exact endpoint reduction for isotropic inertia. A scaled composite metric combines the subsystem certificates and guarantees every strict complete-cascade rate below the slower subsystem rate. Large initial attitude errors are handled by an energy-entry phase followed by contraction within a prescribed tube, without controller switching. The four-dimensional gain-selection problem is decomposed into two independent two-dimensional offline searches using bisection and SDP/LMI feasibility tests. Numerical studies on the ODIN AUV quantify the region–gain–rate trade-off and examine small-angle, large-angle, and near-antipodal manoeuvres. The framework certifies complete-cascade rates of 0.042096s−1 and 0.008524s−1 for the 60∘/60∘ and 150∘/80∘ regions, respectively.",
"container_title": "Journal of Marine Science and Engineering",
"publication_year": "2026",
"volume": "14",
"issue": "16",
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"abstract": "Exploiting the stochastic Hamiltonian structure, this paper investigates the robust fault-tolerant control (FTC) for stochastic port-Hamiltonian systems (SPHSs) with actuator faults. First, an energy-based robust FT controller is developed for SPHSs against the loss of actuator effectiveness. Then, an alternative condition, as well as its corresponding controller are given to extend the application of the proposed controller. Unlike the existing FT controllers, they are continuous, and there is no need to solve the Lyapunov function and Hamilton–Jacobi–Isaacs (HJI) inequalities associated with the nominal systems. Finally, an energy-based robust adaptive FT controller is presented for the faulty SPHSs to deal with parameter perturbations, and an alternative condition with its corresponding controller is also given. Both the adaptive controllers preserve the main stochastic Hamiltonian structure of the faulty systems. Compared to the existing adaptive controller, simulations on synchronous generators show the effectiveness of the proposed methods.",
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"title": "Optimized Cooperative Control of Error Port-Controlled Hamiltonian and Adaptive Backstepping Sliding Mode for a Multi-Joint Industrial Robot",
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"given": "Xiaoyu",
"family": "Yang",
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"name": "College of Automation, Qingdao University, Qingdao 266071, China"
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"abstract": "Robot joints driven by permanent magnet synchronous motors (PMSM) often cannot have both superior accuracy and rapidity when they track target signals. The robot joints have fine dynamic characteristics and poor steady-state characteristics when the signal controller is used, or they have fine steady-state characteristics and poor dynamic characteristics when the energy controller is used. It is hard to make robot joints that have both superior dynamic and steady-state characteristics at once using a single control method. In order to solve this problem, the strategy of optimized cooperative control is proposed. First, an error port-controlled Hamiltonian (EPCH) energy controller and an adaptive backstepping sliding mode (ABSM) signal controller are designed. Second, an optimized cooperative control coefficient based on the position error of a robot joint is designed; this enables the system to switch smoothly between the EPCH energy controller and ABSM signal controller. Next, the strategy of optimized cooperative control is designed. In this way, robot systems can combine the advantages of the EPCH energy controller and the ABSM signal controller. Finally, simulation results demonstrate that using the strategy of optimized cooperative control gives robot joints outstanding control performance in terms of tracking accuracy and response rapidity.",
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"doi": "10.3390/math11163443"
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"type": "journal-article",
"title": "Design of a Port-Hamiltonian Control for an Alt-Azimuth Liquid–Mirror Telescope",
"authors": [
{
"given": "Juan Cristobal",
"family": "Alcaraz Tapia",
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"given": "Carlos E.",
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"given": "Héctor",
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"abstract": "In this work, we design a control strategy to be applied in a port-Hamilton representation of a liquid-mirror telescope for an alt-azimuth configuration. Starting from a dynamical model for an alt-azimuth liquid-mirror telescope based on Lagrange mechanics, a transformation to the port-Hamilton form is made. Such a dynamical model is obtained by computing the kinetic and potential energy of the telescope and substituting them in the Euler–Lagrange equation of motion. Then, for the transformation to the port-Hamiltonian form, we obtain the relation between the Hamiltonian and the Lagrangian. The resulting open-loop model based on the Hamiltonian function is controlled using an extension of the interconnection and damping-assignment passivity-based control aiming for a robust and accurate steady behavior in the closed loop while tracking a star’s position. For comparison purposes, two different control strategies are applied to the Lagrangian model, inverse-dynamics control and sliding mode super-twisting control. Since the light is collected by the principal mirror of the telescope while tracking a star, we make a description of the liquid mirror’s behavior. The tracking star’s position is described as a function of the observer’s position and the star’s coordinates as well as the date of observation. The simulations’ results show that the port-Hamilton control has a good transitory and steady response as well as great accuracy competing with that of inverse-dynamics control but with greater robustness and no chattering drawback.",
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},
{
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},
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},
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]
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{
"id": "3f60374f-d7f8-53c2-96ee-9d38d7ba7f36",
"identifiers": {
"doi": "10.3390/math8020249"
},
"type": "journal-article",
"title": "Energetic-Property-Preserving Numerical Schemes for Coupled Natural Systems",
"authors": [
{
"given": "Mizuka",
"family": "Komatsu",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0002-8482-524X",
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"sequence": "first",
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{
"name": "Graduate School of System Informatics, Kobe University, Kobe 657-8501, Japan"
}
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}
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{
"given": "Shunpei",
"family": "Terakawa",
"literal": null,
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"ORCID": "https://orcid.org/0000-0002-2003-4828",
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"affiliation": [
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"name": "Faculty of Engineering, Kobe University, Kobe 657-8501, Japan"
}
]
}
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{
"given": "Takaharu",
"family": "Yaguchi",
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"ORCID": "https://orcid.org/0000-0001-9025-6015",
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"name": "Graduate School of System Informatics, Kobe University, Kobe 657-8501, Japan"
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"abstract": "In this paper, we propose a method for deriving energetic-property-preserving numerical schemes for coupled systems of two given natural systems. We consider the case where the two systems are interconnected by the action–reaction law. Although the derived schemes are based on the discrete gradient method, in the case under consideration, the equation of motion is not of the usual form represented by using the skew-symmetric matrix. Hence, the energetic-property-preserving schemes cannot be obtained by straightforwardly using the discrete gradient method. We show numerical results for two coupled systems as examples; the first system is a combination of the wave equation and the elastic equation, and the second is of the mass–spring system and the elastic equation.",
"container_title": "Mathematics",
"publication_year": "2020",
"volume": "8",
"issue": "2",
"pages": "249",
"publisher": "MDPI AG",
"event": "",
"keywords": [],
"created_date": "2020-02-18",
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"references": [
{
"identifiers": {
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{
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{
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},
{
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},
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},
{
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{
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},
{
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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}
]
},
{
"id": "26ececde-b496-51e3-b276-03e3f744dd20",
"identifiers": {
"doi": "10.3390/math8112035"
},
"type": "journal-article",
"title": "Adaptive Control of Fuel Cell Converter Based on a New Hamiltonian Energy Function for Stabilizing the DC Bus in DC Microgrid Applications",
"authors": [
{
"given": "Phatiphat",
"family": "Thounthong",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0002-1453-4236",
"authenticated-orcid": false,
"sequence": "first",
"affiliation": [
{
"name": "Renewable Energy Research Centre (RERC), King Mongkut’s University of Technology North Bangkok, 1518, Pracharat 1 Road, Wongsawang, Bangsue, Bangkok 10800, Thailand"
},
{
"name": "Department of Teacher Training in Electrical Engineering, Faculty of Technical Education, King Mongkut’s University of Technology North Bangkok, 1518, Pracharat 1 Road, Bangsue, Bangkok 10800, Thailand"
}
]
}
},
{
"given": "Pongsiri",
"family": "Mungporn",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0002-7012-5912",
"authenticated-orcid": false,
"sequence": "additional",
"affiliation": [
{
"name": "Renewable Energy Research Centre (RERC), King Mongkut’s University of Technology North Bangkok, 1518, Pracharat 1 Road, Wongsawang, Bangsue, Bangkok 10800, Thailand"
},
{
"name": "Thai-French Innovation Institute, King Mongkut’s University of Technology North Bangkok, 1518, Pracharat 1 Road, Bangsue, Bangkok 10800, Thailand"
}
]
}
},
{
"given": "Serge",
"family": "Pierfederici",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Laboratoire d’Energétique et de Mécanique Théorique et Appliquée (LEMTA), Université de Lorraine, CNRS, LEMTA, F-54000 Nancy, France"
}
]
}
},
{
"given": "Damien",
"family": "Guilbert",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0003-4662-3185",
"authenticated-orcid": false,
"sequence": "additional",
"affiliation": [
{
"name": "Groupe de Recherche en Energie Electrique de Nancy (GREEN), Université de Lorraine, GREEN, F-54000 Nancy, France"
}
]
}
},
{
"given": "Nicu",
"family": "Bizon",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0001-9311-7598",
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"sequence": "additional",
"affiliation": [
{
"name": "Department of Electronics, Computers and Electrical Engineering, Faculty of Electronics, Communications and Computers, University of Pitesti, 1 Targul din Vale, 110040 Pitesti, Romania"
}
]
}
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],
"abstract": "DC microgrid applications include electric vehicle systems, shipboard power systems, and More Electric Aircraft (MEA), which produce power at a low voltage level. Rapid developments in hydrogen fuel cell (FC) energy have extended the applications of multi-phase parallel interleaved step-up converters in stabilizing DC bus voltage. The cascade architecture of power converters in DC microgrids may lead to large oscillation and even risks of instability given that the load converters considered as loads feature constant power load (CPL) characteristics. In this article, the output DC bus voltage stabilization and the current sharing of a multi-phase parallel interleaved FC boost converter is presented. The extended Port-Hamiltonian (pH) form has been proposed with the robust controller by adding an integrator action based on the Lyapunov−Energy function, named “Adaptive Hamiltonian PI controller”. The stability and robustness of the designed controller have been estimated by using Mathematica and Matlab/Simulink environments and successfully authenticated by performing experimental results in the laboratory. The results have been obtained using a 2.5 kW prototype FC converter (by two-phase parallel interleaved boost converters) with a dSPACE MicroLabBox platform. The FC main source system is based on a fuel reformer engine that transforms fuel methanol and water into hydrogen gas H2 to a polymer electrolyte membrane FC stack (50 V, 2.5 kW).",
"container_title": "Mathematics",
"publication_year": "2020",
"volume": "8",
"issue": "11",
"pages": "2035",
"publisher": "MDPI AG",
"event": "",
"keywords": [],
"created_date": "2020-11-16",
"permalink": "adaptive-control-of-fuel-cell-converter-based-on-a-new-hamiltonian-energy-function-for-stabilizing-the-dc-bus-in-dc-microgrid-applications",
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{
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"title": "Sensorless Adaptive Voltage Control for Classical DC-DC Converters Feeding Unknown Loads: A Generalized PI Passivity-Based Approach",
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"name": "Facultad de Ingeniería, Institución Universitaria Pascual Bravo, Campus Robledo, Medellín 050036, Colombia"
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{
"name": "Department of Electrical Engineering, University of Jaén, Campus Lagunillas s/n, Edificio A3, 23071 Jaén, Spain"
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"given": "Oscar Danilo",
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"name": "Facultad de Ingeniería, Universidad Distrital Francisco José de Caldas, Bogotá 110231, Colombia"
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"name": "Laboratorio Inteligente de Energía, Universidad Tecnológica de Bolívar, Cartagena 131001, Colombia"
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"given": "Carlos",
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"name": "Department of Electromechanics and Energy Conversion, Universidad de Talca, Curicó 3340000, Chile"
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"given": "Jesus C.",
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"abstract": "The problem of voltage regulation in unknown constant resistive loads is addressed in this paper from the nonlinear control point of view for second-order DC-DC converters. The converters’ topologies analyzed are: (i) buck converter, (ii) boost converter, (iii) buck-boost converter, and (iv) non-inverting buck-boost converter. The averaging modeling method is used to model these converters, representing all these converter topologies with a generalized port-Controlled Hamiltonian (PCH) representation. The PCH representation shows that the second-order DC-DC converters exhibit a general bilinear structure which permits to design of a passivity-based controller with PI actions that ensures the asymptotic stability in the sense of Lyapunov. A linear estimator based on an integral estimator that allows reducing the number of current sensors required in the control implementation stage is used to determine the value of the unknown resistive load. The main advantage of this load estimator is that it ensures exponential convergence to the estimated variable. Numerical simulations and experimental validations show that the PI passivity-based control allows voltage regulation with first-order behavior, while the classical PI controller produces oscillations in the controlled variable, significantly when the load varies.",
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"abstract": "Starting from the general topology and the main elements that connect a microgrid represented by a DC power source to the main grid, this article presents the performance of the control system of a DC-AC converter. The main elements of this topology are the voltage source inverter represented by a DC-AC converter and the network filters. The active Insulated Gate Bipolar Transistor (IGBT) or Metal–Oxide–Semiconductor Field-Effect Transistor (MOSFET) elements of the DC-AC converter are controlled by robust linear or nonlinear Port Controlled Hamiltonian (PCH) controllers. The outputs of these controllers are modulation indices which are inputs to a Pulse-Width Modulation (PWM) system that provides the switching signals for the active elements of the DC-AC converter. The purpose of the DC-AC converter control system is to maintain ud and uq voltages to the prescribed reference values where there is a variation of the three-phase load, which may be of balanced/unbalanced or nonlinear type. The controllers are classic PI, robust or nonlinear PCH, and their performance is improved by the use of a properly trained Reinforcement Learning-Twin Delayed Deep Deterministic Policy Gradient (RL-TD3) agent. The performance of the DC-AC converter control systems is compared using performance indices such as steady-state error, error ripple and Total Harmonic Distortion (THD) current value. Numerical simulations are performed in Matlab/Simulink and conclude the superior performance of the nonlinear PCH controller and the improvement of the performance of each controller presented by using an RL-TD3 agent, which provides correction signals to improve the performance of the DC-AC converter control systems when it is properly trained.",
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"title": "Data-Driven Parameter Identification of Synchronous Generators: A Three-Stage Framework with State Consistency and Grid Decoupling",
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"given": "Tharuka",
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"abstract": "As modern power systems grow increasingly complex, there is a pressing need for stability analysis methods capable of handling nonlinear dynamics while providing physically meaningful and reliable stability indices. Port-Hamiltonian (PH) frameworks have emerged as strong candidates in this regard, offering inherently stable formulations, energy-consistent representations, and modular plug-and-play scalability. However, the practical deployment of PH-based stability analysis remains hindered by the absence of reliable, high-fidelity parameter identification methods that rely on sensor measurements to capture system dynamics while remaining compatible with PH model structures. This paper addresses that gap by proposing a comprehensive three-stage data-driven identification framework for PH modeling of synchronous generators—the central dynamic component of any power system. While the IEEE Standard 115 provides established procedures for transient parameter identification, it exhibits fundamental limitations when applied to PH modeling, including single-scenario identifiability constraints, noise-sensitive derivative-based formulations that amplify sensor measurement errors, and the inability to decouple generator-internal damping from grid contributions. The proposed framework resolves these limitations through multi-scenario excitation using sensor-acquired voltage and current signals, derivative-free state consistency optimization, and physics-based regularization that enforces PH structure preservation. Complete identification of eight key parameters (H, D, Xd, Xq, Xd′, Xq′, Tdo′, Tqo′) is achieved with errors ranging from 1.26% to 9.10%, and validation confirms RMS rotor angle errors below 1.2° and speed errors below 0.15%, demonstrating suitability for transient stability analysis, passivity-based control design, and oscillation damping assessment.",
"container_title": "Sensors",
"publication_year": "2026",
"volume": "26",
"issue": "7",
"pages": "2024",
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"citation": "Beckers T, Seidman J, Perdikaris P, Pappas GJ (2022) Gaussian Process Port-Hamiltonian Systems: Bayesian Learning with Physics Prior. 2022 IEEE 61st Conference on Decision and Control (CDC) 1447–145"
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"title": "Distributed Complementary Control Research of Wind Turbines in Two Offshore Wind Farms",
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"abstract": "In order to stabilize the fluctuation of wind power and maintain a stable power output, a complementary control idea is proposed. This idea aims to make the output power from two wind farms complement each other. This study proposes a distributed control strategy to solve the complementary control problem of wind turbines in two offshore wind farms on the basis of the Hamiltonian energy theory. The proposed control strategy not only ensures synchronization for wind turbines in the same farm but also keeps the combined output power of the two wind farms stable. First, through the Hamiltonian realization, the single-machine model of a wind turbine is transformed into a port-controlled Hamiltonian system with dissipation (PCHD). Subsequently, the Hamiltonian energy control law is developed on the basis of the energy-shaping method to adjust the Hamiltonian energy function. The complementary control of the two wind farms is designed to synchronize the wind turbines within an individual wind farm and keep the combined output of the two wind farms stable. Furthermore, the complementary control strategy is modified to address the communication delay between the two wind farms by incorporating time delay into the control problem. Finally, the effectiveness of the distributed complementary control has been verified via simulations.",
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"title": "A Distributed Cooperative Control Strategy of Offshore Wind Turbine Groups with Input Time Delay",
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"abstract": "With large-scale development of offshore wind power and the increasing scale of power grid interconnection, more and more attention has been drawn to the stable operation of wind power units. When the wide area measurement system (WAMS) is applied to the power system, the time delay mainly occurs in the signal measurement and transmission of the power system. When 10MW wind turbines transmit information through complex communication network, time delay often exists, which leads to the degradation of performance and instability for system. This affects the normal operation of a wind farm. Therefore, in this paper, the distributed control problem of doubly fed wind turbines with input time delay is studied based on the Hamiltonian energy theory. Firstly, the Port-controlled Hamiltonian system with Dissipation (PCH-D) model is implemented with the Hamiltonian energy method. Then, the Casimir function is introduced into the PCH-D model of the single wind turbine system to stabilize the time delay. The wind turbine group is regarded as one network and the distributed control strategy is designed, so that the whole wind turbine cluster can remain stable given a time delay occurring in the range of 30–300 ms. Finally, simulation results show that the output power of the wind turbine cluster with input delay converges to the expected value rapidly and remains stable. Additionally, the system error caused by time delay is greatly reduced. This control method can effectively solve the problem of input time delay and improve the stability of the wind turbine cluster. Moreover, the method proposed in this paper can adopt the conventional time step of dynamic simulation, which is more efficient in calculation. This method has adaptability in transient stability analysis of large-scale power system, however, the third-order mathematical model used in this paper cannot be used to analyze the internal dynamics of the whole power converter.",
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"abstract": "To support doubly fed wind turbine (DFWT) groups in offshore wind farms, this paper proposes a distributed coordinated control based on the Hamiltonian energy theory. This strategy provides global stability to closed-loop systems and facilitates output synchronization. First, a model of a DFWT is realized as a port-controlled Hamiltonian system with dissipation (PCH-D), and the single-machine model is expanded into a multi-machine model of a wind turbine group. Then, by using the design methodology of distributed Hamiltonian systems, a distributed coordinated control is presented for a multi-machine PCH-D system. Furthermore, to investigate failures in wind turbine groups, they are divided into two cases: the separation of failed machines from the system, and the grid-connected operation of failed machines after a fault. These cases correspond to undirected and directed graphs, respectively. Finally, simulations prove that distributed coordinated control enhances the reliability and autonomy of wind turbine groups in offshore wind farms.",
"container_title": "Sustainability",
"publication_year": "2017",
"volume": "9",
"issue": "8",
"pages": "1448",
"publisher": "MDPI AG",
"event": "",
"keywords": [],
"created_date": "2017-08-16",
"permalink": "distributed-coordinated-control-of-offshore-doubly-fed-wind-turbine-groups-based-on-the-hamiltonian-energy-method",
"references": [
{
"identifiers": {
"doi": "10.1007/1-84628-493-7"
},
"citation": "Bianchi, F. D., Mantz, R. J. & De Battista, H. Wind Turbine Control Systems. Advances in Industrial Control (Springer London, 2007). doi:10.1007/1-84628-493-7"
},
{
"identifiers": {
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},
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},
{
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},
{
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},
{
"identifiers": {
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},
{
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},
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},
{
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},
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},
{
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},
{
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},
{
"identifiers": {
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},
{
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{
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},
{
"identifiers": {
"doi": "10.1109/tpwrs.2008.920073"
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"citation": "Feng Wu, Xiao-Ping Zhang, Ping Ju & Sterling, M. J. H. Decentralized Nonlinear Control of Wind Turbine With Doubly Fed Induction Generator. IEEE Trans. Power Syst. 23, 613–621 (2008)"
},
{
"identifiers": {
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},
{
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{
"identifiers": {
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{
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}
]
},
{
"id": "734f0eff-14db-57e5-b503-84ab0df057c3",
"identifiers": {
"doi": "10.3390/sym14010164"
},
"type": "journal-article",
"title": "Efficiency Optimization Strategy of Permanent Magnet Synchronous Motor for Electric Vehicles Based on Energy Balance",
"authors": [
{
"given": "Wenhui",
"family": "Pei",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China"
}
]
}
},
{
"given": "Qi",
"family": "Zhang",
"literal": null,
"source_fields": {
"ORCID": "https://orcid.org/0000-0003-4794-3965",
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"sequence": "additional",
"affiliation": [
{
"name": "School of Control Science and Engineering, Shandong University, Jinan 250100, China"
}
]
}
},
{
"given": "Yongjing",
"family": "Li",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China"
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],
"abstract": "This paper presents an efficiency optimization controller for a permanent magnet synchronous motor (PMSM) of an electric vehicle. A new loss model is obtained based on the permanent magnet synchronous motor’s energy balance equation utilizing the theory of the port-controlled Hamiltonian system. Since the energy balance equation is just the power loss of the PMSM, which provides great convenience for us to use the energy method for efficiency optimization. Then, a new loss minimization algorithm (LMA) is designed based on the new loss model by adjusting the ratio of the excitation current in the d–q axis. Moreover, the proposed algorithm is achieved by the principle of the energy shape method of the Hamiltonian system. Simulations are finally presented to verify effectiveness. The main results of these simulations indicate that the dynamic performance of the drive is maintained and the efficiency increase is up to about 7% compared with the id=0 control algorithm, and about 4.5% compared with the conventional LMA at a steady operation of a PMSM.",
"container_title": "Symmetry",
"publication_year": "2022",
"volume": "14",
"issue": "1",
"pages": "164",
"publisher": "MDPI AG",
"event": "",
"keywords": [],
"created_date": "2022-01-17",
"permalink": "efficiency-optimization-strategy-of-permanent-magnet-synchronous-motor-for-electric-vehicles-based-on-energy-balance",
"references": [
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},
{
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},
{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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]
},
{
"id": "b036c4f2-66fb-55a4-89b8-cd9f591c4d21",
"identifiers": {
"doi": "10.3390/w10121721"
},
"type": "journal-article",
"title": "An Improvement of Port-Hamiltonian Model of Fluid Sloshing Coupled by Structure Motion",
"authors": [
{
"given": "Mohammad Yaghoub",
"family": "Abdollahzadeh Jamalabadi",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Department for Management of Science and Technology Development, Ton Duc Thang University, Ho Chi Minh City 700000, Vietnam"
},
{
"name": "Faculty of Civil Engineering, Ton Duc Thang University, Ho Chi Minh City 700000, Vietnam"
}
]
}
}
],
"abstract": "The fluid–solid interaction is an interesting topic in numerous engineering applications. In this paper, the fluid–solid interaction is considered in a vessel attached to the free tip of a cantilever beam. Governing coupled equations of the system include the Euler–Bernoulli equation for bending of a beam, torsion of a beam, 2-D motion of the rigid vessel, and rotating shallow water equation of fluid sloshing in the vessel. As an essential portion in the numerical simulation of the vibration control of this fluid–plate system is the accurate modeling of sloshing; the partial differential equations of the system are modified by approximation of velocity profile. The suggested method is validated by experimental results of a piezoelectric actuated clamped rectangular plate holding a cylindrical vessel. These sloshing interactions with elastic test cases illustrate the mass conservative characteristics of the method as well as its stability in a prompt change of the vessel situations.",
"container_title": "Water",
"publication_year": "2018",
"volume": "10",
"issue": "12",
"pages": "1721",
"publisher": "MDPI AG",
"event": "",
"keywords": [],
"created_date": "2018-11-26",
"permalink": "an-improvement-of-port-hamiltonian-model-of-fluid-sloshing-coupled-by-structure-motion",
"references": [
{
"identifiers": {
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{
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{
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{
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},
{
"identifiers": {
"doi": "10.1515/auto-2016-0098"
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"citation": "Kotyczka, P. & Maschke, B. Discrete port-Hamiltonian formulation and numerical approximation for systems of two conservation laws. at - Automatisierungstechnik vol. 65 308–322 (2017)"
},
{
"identifiers": {
"doi": "10.1016/j.jfluidstructs.2016.12.007"
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"citation": "Cardoso-Ribeiro, F. L., Matignon, D. & Pommier-Budinger, V. A port-Hamiltonian model of liquid sloshing in moving containers and application to a fluid-structure system. Journal of Fluids and Structures vol. 69 402–427 (2017)"
},
{
"identifiers": {
"doi": "10.1017/cbo9780511536656"
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{
"identifiers": {
"doi": "10.1109/cdc.2008.4738966"
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},
{
"identifiers": {
"doi": "10.1109/9.995037"
},
"citation": "Petit, N. & Rouchon, P. Dynamics and solutions to some control problems for water-tank systems. IEEE Transactions on Automatic Control vol. 47 594–609 (2002)"
},
{
"identifiers": {},
"citation": "Pommier-Budinger, V., Richelot, J., and Bordeneuve-Guib, J. (2006, January 9–11). Active control of a structure with sloshing phenomena. Proceedings of the IFAC Conference on Mechatronic Systems, Berkeley, CA, USA."
},
{
"identifiers": {
"doi": "10.1051/cocv:2002050"
},
"citation": "Coron, J.-M. Local controllability of a 1-D tank containing a fluid modeled by the shallow water equations. ESAIM: Control, Optimisation and Calculus of Variations vol. 8 513–554 (2002)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2003.11.008"
},
"citation": "Prieur, C. & de Halleux, J. Stabilization of a 1-D tank containing a fluid modeled by the shallow water equations. Systems & Control Letters vol. 52 167–178 (2004)"
},
{
"identifiers": {},
"citation": "Robu, B. (2010). Active Vibration Control of a Fluid/Plate System. [Ph.D. Thesis, University of Toulouse]."
},
{
"identifiers": {
"doi": "10.1561/9781601987877"
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"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. (2014) doi:10.1561/9781601987877"
},
{
"identifiers": {
"doi": "10.1109/tcst.2011.2144984"
},
"citation": "Robu, B., Baudouin, L., Prieur, C. & Arzelier, D. Simultaneous $H_\\infty$ Vibration Control of Fluid/Plate System via Reduced-Order Controller. IEEE Transactions on Control Systems Technology vol. 20 700–711 (2012)"
},
{
"identifiers": {
"doi": "10.1109/aim.2014.6878081"
},
"citation": "Cardoso-Ribeiro, F. L., Pommier-Budinger, V., Schotte, J.-S. & Arzelier, D. Modeling of a coupled fluid-structure system excited by piezoelectric actuators. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics 216–221 (2014) doi:10.1109/aim.2014.6878081"
},
{
"identifiers": {},
"citation": "Cardoso-Ribeiro, F.L., Matignon, D., and Pommier-Budinger, V. (2015, January 13–15). Control design for a coupled fluid-structure system with piezoelectric actuators. Proceedings of the 3rd CEAS EuroGNC, Toulouse, France."
},
{
"identifiers": {
"doi": "10.1017/s0956792510000197"
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"citation": "ALEMI ARDAKANI, H. & BRIDGES, T. J. Dynamic coupling between shallow-water sloshing and horizontal vehicle motion. European Journal of Applied Mathematics vol. 21 479–517 (2010)"
},
{
"identifiers": {
"doi": "10.1017/s0022112010004477"
},
"citation": "ARDAKANI, H. A. & BRIDGES, T. J. Shallow-water sloshing in vessels undergoing prescribed rigid-body motion in three dimensions. Journal of Fluid Mechanics vol. 667 474–519 (2011)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2007.4434237"
},
"citation": "Hamroun, B., Lefevre, L. & Mendes, E. Port-based modelling and geometric reduction for open channel irrigation systems. 2007 46th IEEE Conference on Decision and Control 1578–1583 (2007) doi:10.1109/cdc.2007.4434237"
},
{
"identifiers": {
"doi": "10.3166/ejc.16.545-563"
},
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}
]
},
{
"id": "5c83e954-9abb-5473-b254-c214054b8b23",
"identifiers": {
"doi": "10.35833/mpce.2021.000761"
},
"type": "journal-article",
"title": "Time-domain Dynamic State Estimation for Unbalanced Three-phase Power Systems",
"authors": [
{
"given": "Martin",
"family": "Pfeifer",
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{
"given": "Felicitas",
"family": "Mueller",
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{
"given": "Steven",
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"given": "Frederik",
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"given": "Soren",
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"container_title": "Journal of Modern Power Systems and Clean Energy",
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"title": "Complex variable neural network controller for port-Hamiltonian systems with non-holonomic constraints",
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{
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"abstract": "This study presents a complex variable neural network (CVNN) controller designed for unmanned aerial vehicles (UAVs) using the port-Hamiltonian formulation with non-holonomic constraints. The approach begins by deriving the dynamic model of a quadrotor UAV in port-Hamiltonian form, where the Hamiltonian is constructed from the system’s total kinetic and potential energies. Dirac structures are implemented to preserve the system’s structural properties while incorporating non-holonomic constraints specifically in the attitude loop. The proposed control architecture decouples the attitude and position control loops, with each utilizing a CVNN controller designed through Lyapunov stability analysis. Theoretical proofs establish the stability of both control loops, while numerical simulations demonstrate the effectiveness of the proposed approach for trajectory tracking tasks. Comparative analysis against existing controllers shows superior performance in reducing root mean square errors while maintaining reasonable control effort. The results confirm that the CVNN controller effectively manages the UAV’s dynamic behavior even with non-holonomic constraints limiting the vehicle’s orientation range.",
"container_title": "An International Journal of Optimization and Control: Theories & Applications (IJOCTA)",
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"type": "journal-article",
"title": "Evaluation of a Port-Hamiltonian Controller for an altazimutal Liquid Mirror Telescope Using ROS and Gazebo",
"authors": [
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"given": "Juan Cristobal Alcaraz",
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"name": "Departamento de Ciencias Exactas y Tecnología Centro Universitario de los Lagos, Universidad de Guadalajara Av. Enrique Díaz de León No. 1144, Colonia Paseos de la Montaña, Lagos de Moreno, 47460, Jalisco MÉXICO"
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{
"given": "Carlos E.",
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"name": "Departamento de Ciencias Exactas y Tecnología Centro Universitario de los Lagos, Universidad de Guadalajara Av. Enrique Díaz de León No. 1144, Colonia Paseos de la Montaña, Lagos de Moreno, 47460, Jalisco MÉXICO"
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"name": "Departamento de Ciencias Exactas y Tecnología Centro Universitario de los Lagos, Universidad de Guadalajara Av. Enrique Díaz de León No. 1144, Colonia Paseos de la Montaña, Lagos de Moreno, 47460, Jalisco MÉXICO"
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"abstract": "This study evaluates the performance and robustness of a port-Hamiltonian controller for the links of a liquid mirror telescope and a PI controller for the rotation of its liquid mirror, using ROS2 and Gazebo. The telescope links track a star’s apparent daily motion, while the liquid mirror achieves the required angular speed for a desired focal length. These references are computed based on the star’s name and focal length input. The telescope’s physical properties, including dimensions, masses, inertia, and 3D models, are stored in a Unified Robot Description Format (URDF) file, enabling Gazebo to initialize accurate simulations. Joint information—state interfaces (angular position and speed) and command interfaces (effort)—is also defined in the URDF. Controller configurations, including gains, bounds, and control parameters, are stored in a YAML file, ensuring seamless integration with Gazebo. The evaluation encompasses key performance metrics. For the two-link telescope, tracking accuracy, settling time, control effort, and energy efficiency are analyzed. For the liquid mirror, the primary focus is on tracking precision. The port-Hamiltonian controller’s performance is compared to inverse dynamics and super-twisting sliding mode controllers. Results show that the port-Hamiltonian controller achieves a favorable balance between accuracy and energy efficiency, exhibiting smoother control actions that reduce energy consumption and actuator wear. Its stability under varying conditions ensures high precision for astronomical observations. Furthermore, ROS2 and Gazebo provide a risk-free environment for extensive testing, facilitating a smooth transition to real-world implementation.",
"container_title": "WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL",
"publication_year": "2025",
"volume": "20",
"issue": "",
"pages": "471--486",
"publisher": "World Scientific and Engineering Academy and Society (WSEAS)",
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"created_date": "2025-11-18",
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"references": [
{
"identifiers": {
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},
{
"identifiers": {
"doi": "10.1093/mnras/sty298"
},
"citation": "Kumar B, Pandey KL, Pandey SB, Hickson P, Borra EF, Anupama GC, Surdej J (2018) The zenithal 4-m International Liquid Mirror Telescope: a unique facility for supernova studies. Monthly Notices of the Royal Astronomical Society 476(2):2075–2085. https://doi.org/10.1093/mnras/sty29"
},
{
"identifiers": {
"doi": "10.1086/311999"
},
"citation": "Borra EF, Ritcey A, Artigau E (1999) Floating Mirrors. The Astrophysical Journal 516(2):L115–L118. https://doi.org/10.1086/31199"
},
{
"identifiers": {
"doi": "10.1051/0004-6361:20078714"
},
"citation": "Gagné G, Borra EF, Ritcey AM (2007) Tiltable rotating liquid mirrors: a progress report. A&A 479(2):597–602. https://doi.org/10.1051/0004-6361:2007871"
},
{
"identifiers": {
"doi": "10.1117/12.2693008"
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"citation": "Nayak M, Basu S, Iyer K (2024) Zenith: a DARPA liquid mirror technology development program. Photonic Instrumentation Engineering XI"
},
{
"identifiers": {
"doi": "10.3390/math11163443"
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"citation": "Alcaraz Tapia JC, Castañeda CE, Vargas Rodriguez H, Esquivel P (2023) Design of a Port-Hamiltonian Control for an Alt-Azimuth Liquid–Mirror Telescope. Mathematics 11(16):3443. https://doi.org/10.3390/math1116344"
},
{
"identifiers": {
"doi": "10.1007/978-3-642-03196-0_2"
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"citation": "Duindam V, Macchelli A, Stramigioli S, Bruyninckx H (2009) Port-Hamiltonian Systems. Modeling and Control of Complex Physical Systems 53–13"
},
{
"identifiers": {
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"citation": "van der Schaft A (2007) Port-Hamiltonian systems: an introductory survey. Proceedings of the International Congress of Mathematicians Madrid, August 22–30, 2006 1339–136"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2017.06.039"
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"citation": "Yaghmaei A, Yazdanpanah MJ (2017) Trajectory tracking for a class of contractive port Hamiltonian systems. Automatica 83:331–336. https://doi.org/10.1016/j.automatica.2017.06.03"
},
{
"identifiers": {
"doi": "10.1109/access.2018.2820681"
},
"citation": "Chi J, Yu H, Yu J (2018) Hybrid Tracking Control of 2-DOF SCARA Robot via Port-Controlled Hamiltonian and Backstepping. IEEE Access 6:17354–17360. https://doi.org/10.1109/access.2018.282068"
},
{
"identifiers": {
"doi": "10.1109/access.2018.2862637"
},
"citation": "Zhao B, Yu H, Yu J, Liu X, Wu H (2018) Port-Controlled Hamiltonian and Sliding Mode Control of Gantry Robot Based on Induction Motor Drives. IEEE Access 6:43840–43849. https://doi.org/10.1109/access.2018.286263"
},
{
"identifiers": {
"doi": "10.1109/iros.2004.1389727"
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"citation": "Koenig N, Howard A Design and use paradigms for gazebo, an open-source multi-robot simulator. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) 3:2149–215"
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{
"identifiers": {
"doi": "10.2514/6.2023-4726"
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"citation": "Friz JS, Cooper JR, Miksch C, Kalluri S (2023) Assessment of Sensor Data Accuracy within Gazebo/ROS for High-Precision Autonomous In-Space Robotic Operations. ASCEND 202"
},
{
"identifiers": {
"doi": "10.24310/riuma.26015"
},
"citation": "Sánchez-Montero M (2022) Automatically Annotated Dataset of a Ground Mobile Robot in Natural Environments via Gazebo Simulations. Dataset"
},
{
"identifiers": {
"doi": "10.1115/imece2018-87686"
},
"citation": "Aksu M, Michaloski JL, Proctor FM (2018) Virtual Experimental Investigation for Industrial Robotics in Gazebo Environment. Volume 2: Advanced Manufacturin"
},
{
"identifiers": {
"doi": "10.1051/0004-6361/200912202"
},
"citation": "van Leeuwen F (2009) The Hipparcos catalog. A&A 500(1):505–506. https://doi.org/10.1051/0004-6361/20091220"
},
{
"identifiers": {
"doi": "10.1134/s1560354714050049"
},
"citation": "Chang DE (2014) On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems. Regul Chaot Dyn 19(5):556–575. https://doi.org/10.1134/s156035471405004"
},
{
"identifiers": {
"doi": "10.1017/s0263574725101719"
},
"citation": "Montoya-Morales J-R, Guerrero-Sánchez M-E, Valencia-Palomo G, Hernández-González O, López-Estrada F-R, Félix-Herrán LC (2025) Design and experimental validation of IDA-PBC-based flight control for quadrotors. Robotica 43(7):2376–2397. https://doi.org/10.1017/s026357472510171"
},
{
"identifiers": {
"doi": "10.1007/s11071-021-06776-7"
},
"citation": "Guerrero-Sánchez ME, Hernández-González O, Valencia-Palomo G, Mercado-Ravell DA, López-Estrada FR, Hoyo-Montaño JA (2021) Robust IDA-PBC for under-actuated systems with inertia matrix dependent of the unactuated coordinates: application to a UAV carrying a load. Nonlinear Dyn 105(4):3225–3238. https://doi.org/10.1007/s11071-021-06776-"
},
{
"identifiers": {
"doi": "10.1177/0278364919835605"
},
"citation": "Yüksel B, Secchi C, Bülthoff HH, Franchi A (2019) Aerial physical interaction via IDA-PBC. The International Journal of Robotics Research 38(4):403–421. https://doi.org/10.1177/027836491983560"
}
]
},
{
"id": "0efc0d12-5555-57c2-a96e-b5255e3a5702",
"identifiers": {
"doi": "10.37624/ijert/13.10.2020.2706-2711"
},
"type": "journal-article",
"title": "Interconection and Damping Assignment Control of the Subactuated TORA Mechanical System",
"authors": [
{
"given": "Maribel P´erez",
"family": "Pirela",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Atilio",
"family": "Morillo",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Miguel E.",
"family": "Rodriguez R.y",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Dolores Amada",
"family": "Gualli Bonilla",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Mar´ıa Fernanda",
"family": "Romero Villacr´esx",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
}
],
"abstract": "El sistema TORA (translational oscillator with rotational actuator) es un prototipo de sistema mecanico subactuado que ha merecido gran atencion por la comunidad cientifica de control no lineal. En este trabajo, partiendo de la representacion Hamiltoniana controlada por puertos basada en la energia total del sistema, considerada como energia cinetica mas energia potencial, y mediante la utilizacion del metodo de control basado en Interconexion y Asignacion de Amortiguamiento, se obtiene un controlador que logra estabilizar en forma global y asintotica el punto de equilibrio alcanzando un excelente desempeno. Las simulaciones numericas mostradas al final del trabajo confirman esta apreciacion. Palabras clave: Control no lineal, sistemas mecanicos subactuados, control basado en pasividad, metodo IDA-PBC, sistema TORA. The TORA system (translational oscillator with rotational actuator) is a prototype of sub-acted mechanical system that has deserved great attention of the nonlinear control scientific community. In this paper, beginning with the Port Controlled Hamiltonian representation founded in the total energy of the system, considered as kinetic plus potential energy, and through the use of the method of control based on the interconnection and damped assignment, is obtained a controller that achieves the goal of to stabilize global and asymptotically the equilibrium point, with an excellent performance. Numerical simulations shown at the end of the work confirm the theoretical results. Key words: Nonlinear control, Sub-acted mechanical systems, passivity based control, IDA-PBC method, TORA system",
"container_title": "International Journal of Engineering Research and Technology",
"publication_year": "2020",
"volume": "13",
"issue": "10",
"pages": "2706",
"publisher": "International Research Publication House",
"event": "",
"keywords": [],
"created_date": "2020-11-09",
"permalink": "interconection-and-damping-assignment-control-of-the-subactuated-tora-mechanical-system",
"references": []
},
{
"id": "472d0f2a-69e1-5e48-ac16-e38af49222b6",
"identifiers": {
"doi": "10.3813/aaa.918931"
},
"type": "journal-article",
"title": "Energy Balanced Model of a Jet Interacting With a Brass Player's Lip",
"authors": [
{
"given": "Nicolas",
"family": "Lopes",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Thomas",
"family": "Hélie",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
}
],
"abstract": "In most physical models of brass instruments, the air jet (located at the exciter) is governed by an equation of Bernoulli-type for which basic, unsteady or lossy versions are available. The non-linearity introduced by such model is known to be of utmost importance for wind instruments: it is responsible for self-oscillations when fed by a power source. However, this type of model is unable to make the air flow work at a mobile boundary (lip) as it does not account for any transverse component (the vertical dimension during normal brass playing) in the velocity field. In this sense, it is ill adapted to properly address the power exchanges between the jet and the lips. This paper addresses the following twofold issue. The first issue is the derivation of an air flow model in the unsteady case that restores the fundamental property of passivity at boundaries. The second issue is the test of its relevance in self-oscillating contexts, based on passive-guaranteed simulations of a simplified complete instrument. To make the air flow model as simple as possible, its derivation relies on standard Bernoulli assumptions (irrotational, incompressible flow without loss) except for the boundary conditions at the wall. It is derived in two steps. First, we solve the 2D velocity and pressure fields of the Euler equation for boundary conditions that are adapted to a moving lip. Second, we derive a macroscopic model based on averaged velocities and pressures. This yields a finite dimensional differential system which proves to be equivalent to the original one, in the sense that both the velocity and the pressure fields can be recovered from the macroscopic variables. Moreover, it preserves the power balance of the original physical system. Then, a simplified model of an instrument is built by connecting this system to a lip (mass-spring-damper) and to a conservative straight pipe with an ideally dissipative termination. Passivity is fulfilled and the complete power balance is explicitly encoded by recasting the model into the “Port-Hamiltonian formulation”. A numerical scheme that preserves passivity is proposed to simulate the complete system supplied by an ideal air pressure generator. Finally, results are compared with those based on the standard Bernoulli equation.",
"container_title": "Acta Acustica united with Acustica",
"publication_year": "2016",
"volume": "102",
"issue": "1",
"pages": "141--154",
"publisher": "European Acoustics Association",
"event": "",
"keywords": [],
"created_date": "2015-12-19",
"permalink": "energy-balanced-model-of-a-jet-interacting-with-a-brass-player-s-lip",
"references": []
},
{
"id": "77e67657-9665-5246-aaca-4b3b9ba26b81",
"identifiers": {
"doi": "10.3906/elk-0906-28"
},
"type": "journal-article",
"title": "Direct discrete-time control of port controlled Hamiltonian systems",
"authors": [
{
"given": "YAPRAK",
"family": "YALÇIN",
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"given": "LEYLA GÖREN",
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"abstract": "The direct discrete time control of Port Controlled Hamiltonian Systems (PCHS) in the sense of energy shaping and damping injection is considered. In order to give a direct discrete time design method for PCHS, firstly an appropriate discrete gradient is proposed, which enables the derivation of a discrete time equation corresponding to the discrete time counterpart of Hamiltonian Systems. Using this proposed discrete-time model, the discrete-time counterpart of Passivity Based Control (PBC) technique is developed for n-degreesof-freedom mechanical systems. The discrete-time control rules which correspond to the energy shaping and damping assignment are obtained directly using the discrete time model of the desired system and the discrete time model of the open loop systems. To illustrate the effectiveness of the proposed method, two non-separable and under actuated examples are investigated and the simulation results are given.",
"container_title": "Turkish Journal of Electrical Engineering and Computer Sciences",
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"publisher": "The Scientific and Technological Research Council of Turkey (TUBITAK-ULAKBIM) - DIGITAL COMMONS JOURNALS",
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"title": "Conservation laws analysis of nonlinear partial differential equations and their linear soliton solutions and Hamiltonian structures",
"authors": [
{
"given": "Long",
"family": "Ju",
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"name": "School of Mathematics, China University of Mining and Technology, Xuzhou, Jiangsu, 221116, P. R. China"
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"given": "Jian",
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"name": "School of Mathematics, China University of Mining and Technology, Xuzhou, Jiangsu, 221116, P. R. China"
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{
"name": "College of Mathematics, Suqian University, Suqian 223800, China"
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},
{
"given": "Yufeng",
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"name": "School of Mathematics, China University of Mining and Technology, Xuzhou, Jiangsu, 221116, P. R. China"
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"abstract": "<abstract><p>This article mainly uses two methods of solving the conservation laws of two partial differential equations and a system of equations. The first method is to construct the conservation law directly and the second method is to apply the Ibragimov method to solve the conservation laws of the target equation systems, which are constructed based on the symmetric rows of the target equation system. In this paper, we select two equations and an equation system, and we try to apply these two methods to the combined KdV-MKdV equation, the Klein-Gordon equation and the generalized coupled KdV equation, and simply verify them. The combined KdV-MKdV equation describes the wave propagation of bound particles, sound waves and thermal pulses. The Klein-Gordon equation describes the nonlinear sine-KG equation that simulates the motion of the Josephson junction, the rigid pendulum connected to the stretched wire, and the dislocations in the crystal. And the coupled KdV equation has also attracted a lot of research due to its importance in theoretical physics and many scientific applications. In the last part of the article, we try to briefly analyze the Hamiltonian structures and adjoint symmetries of the target equations, and calculate their linear soliton solutions.</p></abstract>",
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"doi": "10.3934/cam.2023018"
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"type": "journal-article",
"title": "Stokes-Dirac structures for distributed parameter port-Hamiltonian systems: An analytical viewpoint",
"authors": [
{
"given": "Andrea",
"family": "Brugnoli",
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"affiliation": [
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"name": "Technische Universität Berlin, Berlin, Germany"
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{
"given": "Ghislain",
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"name": "ISAE-SUPAERO, Université de Toulouse, Toulouse, France"
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"abstract": "In this paper, we prove that a large class of linear evolution partial differential equations defines a Stokes-Dirac structure over Hilbert spaces. To do so, the theory of boundary control system is employed. This definition encompasses problems from mechanics that cannot be handled by the geometric setting given in the seminal paper by van der Schaft and Maschke in 2002. Many worked-out examples stemming from continuum mechanics and physics are presented in detail, and a particular focus is given to the functional spaces in duality at the boundary of the geometrical domain. For each example, the connection between the differential operators and the associated Hilbert complexes is illustrated.",
"container_title": "Communications in Analysis and Mechanics",
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"publisher": "American Institute of Mathematical Sciences (AIMS)",
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"references": [
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
{
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},
{
"identifiers": {
"doi": "10.1093/imamci/dnaa018"
},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.1007/978-3-642-34928-7_5"
},
"citation": "van der Schaft, A. J. Port-Hamiltonian Differential-Algebraic Systems. Surveys in Differential-Algebraic Equations I 173–226 (2013) doi:10.1007/978-3-642-34928-7_5"
},
{
"identifiers": {
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},
"citation": "van der Schaft, A. & Jeltsema, D. Port-Hamiltonian Systems Theory: An Introductory Overview. Foundations and Trends® in Systems and Control vol. 1 173–378 (2014)"
},
{
"identifiers": {
"doi": "10.1080/13873954.2021.1975137"
},
"citation": "Altmann, R., Mehrmann, V. & Unger, B. Port-Hamiltonian formulations of poroelastic network models. Mathematical and Computer Modelling of Dynamical Systems vol. 27 429–452 (2021)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2016.12.005"
},
"citation": "Altmann, R. & Schulze, P. A port-Hamiltonian formulation of the Navier–Stokes equations for reactive flows. Systems & Control Letters vol. 100 51–55 (2017)"
},
{
"identifiers": {
"doi": "10.1016/j.geomphys.2022.104477"
},
"citation": "Califano, F., Rashad, R., Schuller, F. P. & Stramigioli, S. Energetic decomposition of distributed systems with moving material domains: The port-Hamiltonian model of fluid-structure interaction. Journal of Geometry and Physics vol. 175 104477 (2022)"
},
{
"identifiers": {
"doi": "10.1093/imamci/dnaa016"
},
"citation": "Cardoso-Ribeiro, F. L., Matignon, D. & Pommier-Budinger, V. Port-Hamiltonian model of two-dimensional shallow water equations in moving containers. IMA Journal of Mathematical Control and Information vol. 37 1348–1366 (2020)"
},
{
"identifiers": {
"doi": "10.1016/j.jfluidstructs.2016.12.007"
},
"citation": "Cardoso-Ribeiro, F. L., Matignon, D. & Pommier-Budinger, V. A port-Hamiltonian model of liquid sloshing in moving containers and application to a fluid-structure system. Journal of Fluids and Structures vol. 69 402–427 (2017)"
},
{
"identifiers": {
"doi": "10.1016/j.geomphys.2020.103959"
},
"citation": "Gernandt, H., Haller, F. E., Reis, T. & Schaft, A. J. van der. Port-Hamiltonian formulation of nonlinear electrical circuits. Journal of Geometry and Physics vol. 159 103959 (2021)"
},
{
"identifiers": {
"doi": "10.1109/cdc.2004.1429324"
},
"citation": "Macchelli, A., van der Schaft, A. J. & Melchiorri, C. Port Hamiltonian formulation of infinite dimensional systems I. Modeling. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) 3762-3767 Vol.4 (2004) doi:10.1109/cdc.2004.1429324"
},
{
"identifiers": {
"doi": "10.1016/b978-0-08-041901-5.50064-6"
},
"citation": "Maschke, B. M. & van der Schaft, A. J. PORT-CONTROLLED HAMILTONIAN SYSTEMS: MODELLING ORIGINS AND SYSTEMTHEORETIC PROPERTIES. Nonlinear Control Systems Design 1992 359–365 (1993) doi:10.1016/b978-0-08-041901-5.50064-6"
},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
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},
{
"identifiers": {
"doi": "10.1137/s0363012903429530"
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},
{
"identifiers": {
"doi": "10.1016/j.automatica.2020.109130"
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},
{
"identifiers": {
"doi": "10.1016/j.apm.2019.04.035"
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"citation": "Brugnoli, A., Alazard, D., Pommier-Budinger, V. & Matignon, D. Port-Hamiltonian formulation and symplectic discretization of plate models Part I: Mindlin model for thick plates. Applied Mathematical Modelling vol. 75 940–960 (2019)"
},
{
"identifiers": {
"doi": "10.1016/j.apm.2019.04.036"
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},
{
"identifiers": {},
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},
{
"identifiers": {},
"citation": "A. Serhani, Systèmes couplés d'EDPs, vus comme des systèmes Hamiltoniens à ports avec dissipation : Analyse théorique et simulation numérique, PhD thesis, Université de Toulouse, ISAE-SUPAERO, 2020."
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2006.08.014"
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},
{
"identifiers": {},
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},
{
"identifiers": {
"doi": "10.1016/j.jmaa.2010.07.004"
},
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},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
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"title": "Stability and stabilization of infinite-dimensional linear port-Hamiltonian systems",
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"given": "Björn",
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"abstract": "Stability and stabilization of linear port-Hamiltonian systems on infinite-dimensional spaces are investigated. This class is general enough to include models of beams and waves as well as transport and Schr\"odinger equations with boundary control and observation. The analysis is based on the frequency domain method which gives new results for second order port-Hamiltonian systems and hybrid systems. Stabilizing controllers with colocated input and output are designed. The obtained results are applied to the Euler-Bernoulli beam.",
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"family": "Minh Trang Vu",
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"authors": [
{
"given": "Birgit",
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{
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{
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{
"name": "Institute of Mathematics, Łódź University of Technology, Łódź, Poland"
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{
"name": "International Scientific Laboratory of Applied Semigroup Research, South Ural State University, Chelyabinsk, Russia"
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"name": "Fraunhofer Institute for Industrial Mathematics (ITWM), Fraunhofer-Platz 1, 67663 Kaiserslautern, Germany"
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"abstract": "We study a~quasilinear coupled magneto-quasistatic model from a~systems theoretic perspective.} First, by taking the injected voltages as input and the associated currents as output, we prove that the magneto-quasistatic system is passive. Moreover, by defining suitable Dirac and resistive structures, we show that it admits a~representation as a~port-Hamiltonian system. Thereafter, we consider dependence on initial and input data. We show that the current and the magnetic vector potential can be estimated by means of the initial magnetic vector potential and the voltage. We also analyse the free dynamics of the system and study the asymptotic behavior of the solutions for $t\\to\\infty$.",
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"abstract": "Although conservative Hamiltonian systems with constraints can be formulated in terms of Dirac structures, a more general framework is necessary to cover also dissipative systems such as gradient and metriplectic systems with constraints. We define Leibniz-Dirac structures which lead to a natural generalization of Dirac and Riemannian structures, for instance. From modeling point of view, Leibniz-Dirac structures make it easy to formulate implicit dissipative Hamiltonian systems. We give their exact characterization in terms of vector bundle maps from the tangent bundle to the cotangent bundle and vice verse. Physical systems which can be formulated in terms of Leibniz-Dirac structures are discussed.",
"container_title": "Journal of Geometric Mechanics",
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{
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"given": "Paweł",
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"abstract": "The Lagrangian description of mechanical systems and the Legendre Transformation (considered as a passage from the Lagrangian to the Hamiltonian formulation of the dynamics) for point-like objects, for which the infinitesimal configuration space is $T M$, is based on the existence of canonical symplectic isomorphisms of double vector bundles $T^* TM$, $T^*T^* M$, and $TT^* M$, where the symplectic structure on $TT^* M$ is the tangent lift of the canonical symplectic structure $T^* M$. We show that there exists an analogous picture in the dynamics of objects for which the configuration space is $\\wedge^n T M$, if we make use of certain structures of graded bundles of degree $n$, i.e. objects generalizing vector bundles (for which $n=1$). For instance, the role of $TT^*M$ is played in our approach by the manifold $\\wedge^nT M\\wedge^nT^*M$, which is canonically a graded bundle of degree $n$ over $\\wedge^nT M$. Dynamics of strings and the Plateau problem in statics are particular cases of this framework.",
"container_title": "Journal of Geometric Mechanics",
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"pages": "503--526",
"publisher": "American Institute of Mathematical Sciences (AIMS)",
"event": "",
"keywords": [],
"created_date": "2014-12-23",
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"doi": "10.3934/jgm.2014.6.67"
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"type": "journal-article",
"title": "Tensor products of Dirac structures and interconnection in Lagrangian mechanics",
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{
"given": "Henry",
"family": "O. Jacobs",
"literal": null,
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"given": "Hiroaki",
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"abstract": "Many mechanical systems are large and complex, despite being composed of simple subsystems. In order to understand such large systems it is natural to tear the system into these subsystems. Conversely we must understand how to invert this tearing procedure. In other words, we must understand interconnection of subsystems. Such an understanding has been already shown in the context of Hamiltonian systems on vector spaces via the port-Hamiltonian systems program, in which an interconnection may be achieved through the identification of shared variables, whereupon the notion of composition of Dirac structures allows one to interconnect two systems. In this paper, we seek to extend the program of the port-Hamiltonian systems on vector spaces to the case of Lagrangian systems on manifolds and also extend the notion of composition of Dirac structures appropriately. In particular, we will interconnect Lagrange-Dirac systems by modifying the respective Dirac structures of the involved subsystems. We define the interconnection of Dirac structures via an interaction Dirac structure and a tensor product of Dirac structures. We will show how the dynamics of the interconnected system is formulated as a function of the subsystems, and we will elucidate the associated variational principles. We will then illustrate how this theory extends the theory of port-Hamiltonian systems and the notion of composition of Dirac structures to manifolds with couplings which do not require the identification of shared variables. Lastly, we will show some examples: a mass-spring mechanical systems, an electric circuit, and a nonholonomic mechanical system.",
"container_title": "Journal of Geometric Mechanics",
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"issue": "1",
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"publisher": "American Institute of Mathematical Sciences (AIMS)",
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"identifiers": {
"doi": "10.3934/jgm.2019024"
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"type": "journal-article",
"title": "Morse families and Dirac systems",
"authors": [
{
"given": "María",
"family": "Barbero Liñán",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
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{
"given": "Hernán",
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"given": "Eduardo",
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"given": "David",
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"abstract": "Dirac structures and Morse families are used to obtain a geometric formalism that unifies most of the scenarios in mechanics (constrained calculus, nonholonomic systems, optimal control theory, higher-order mechanics, etc.), as the examples in the paper show. This approach generalizes the previous results on Dirac structures associated with Lagrangian submanifolds. An integrability algorithm in the sense of Mendela, Marmo and Tulczyjew is described for the generalized Dirac dynamical systems under study to determine the set where the implicit differential equations have solutions.",
"container_title": "Journal of Geometric Mechanics",
"publication_year": "2019",
"volume": "11",
"issue": "4",
"pages": "487--510",
"publisher": "American Institute of Mathematical Sciences (AIMS)",
"event": "",
"keywords": [],
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"type": "journal-article",
"title": "Stabilization of wind farm integrated transmission system with input delay",
"authors": [
{
"given": "Gaoran",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "first",
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{
"given": "Weiwei",
"family": "Sun",
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"given": "Shuqing",
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"abstract": "In the process of large-scale wind farms integration, the time delay is usually caused by the introduction of wide area control signal, which leads to the unstable operation of integrated transmission system. In order to solve this problem, using the control principle of interconnection and damping assignment passivity-based (IDA-PB), this paper puts forward a control method which applies voltage source converter high voltage direct current (VSC-HVDC) technology to the integrated system of time-delay wind farm and keeps the system running stably. In this method, the framework of time-delay port controlled Hamiltonian (PCH) system is constructed, and the energy shaping of the system is carried out by extending the IDA-PB control principle, thus the feedback controller of the system is designed. Around the problem of time-delay stabilization, the stability criterion is obtained by constructing Lyapunov-Krasovskii functional and introducing free weighting matrices. Finally, the simulation results show that the proposed method can effectively solve the time delay problem of the integrated transmission system and avoid the performance deterioration of the system.",
"container_title": "AIMS Mathematics",
"publication_year": "2021",
"volume": "6",
"issue": "9",
"pages": "9177--9193",
"publisher": "American Institute of Mathematical Sciences (AIMS)",
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"type": "journal-article",
"title": "A Hamiltonian perspective to the stabilization of systems of two conservation laws",
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"abstract": "This paper aims at providing some synthesis between two alternative representations of systems of two conservation laws and interpret different conditions on stabilizing boundary control laws. The first one, based on the invariance of its coordinates, is the representation in Riemann coordinates which has been applied successfully for the stabilization of linear and non-linear hyperbolic systems of conservation laws. The second representation is based on physical modelling and leads to port Hamiltonian systems which are extensions of infinite-dimensional Hamiltonian systems defined on Dirac structure encompassing pairs of conjugated boundary variables. In a first instance the port Hamiltonian formulation is recalled with respect to a canonical Stokes-Dirac structure and then derived in Riemann coordinates. In a second instance the conditions on the boundary feedback relations derived with respect to the Riemann invariants are expressed in terms of the port boundary variable of the Hamiltonian formulation and interpreted in terms of the dissipation inequality of the Hamiltonian functional. The p-system and the Saint-Venant equations arising in models of irrigation channels are the illustrating examples developed through the paper.",
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"name": "Department of Mathematics and Applied Mathematics, University of Pretoria, Pretoria, South Africa \n\t\t\t\t\t\t\t\t\t \t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t \t\t\t\t\t\t\t\t\t Institute of Mathematics, Lódź University of Technology Lódź, Poland \n\t\t\t\t\t\t\t\t\t \t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t \t\t\t\t\t\t\t\t\t International Scientific Laboratory of Applied Semigroup Research South Ural State University, Chelyabinsk, Russia"
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"abstract": "Hyperbolic systems on networks often can be written as systems of first order equations on an interval, coupled by transmission conditions at the endpoints, also called port-Hamiltonians. However, general results for the latter have been difficult to interpret in the network language. The aim of this paper is to derive conditions under which a port-Hamiltonian with general linear Kirchhoff's boundary conditions can be written as a system of $ 2\\times 2 $ hyperbolic equations on a metric graph $ \\Gamma $. This is achieved by interpreting the matrix of the boundary conditions as a potential map of vertex connections of $ \\Gamma $ and then showing that, under the derived assumptions, that matrix can be used to determine the adjacency matrix of $ \\Gamma $",
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"title": "Multi-scale description of pedestrian collective dynamics with port-Hamiltonian systems",
"authors": [
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"given": "Antoine",
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"name": "School of Mechanical Engineering and Safety Engineering, University of Wuppertal, Wuppertal, Germany"
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"abstract": "Port-Hamiltonian systems (PHS) theory is a recent but already well-established modelling approach for non-linear physical systems. Some studies have shown lately that PHS frameworks are relevant for modelling and control of swarm and multi-agent systems. We identify in this contribution a general class of microscopic force-based pedestrian models that can be formulated as a port-Hamiltonian system. The pedestrian PHS has linear structure and dissipation components. Non-linear effects come from isotropic pedestrian interactions. Simulation results on a torus with disordered initial states show that the port-Hamiltonian pedestrian model can exhibit different types of dynamics. They range from relaxed speed models with no interaction, dynamical billiards, or crystallization dynamics to realistic pedestrian collective behaviors, including lane and strip formation for counter and crossing flow. The port-Hamiltonian framework is a natural multiscale description of pedestrian dynamics as the Hamiltonian turns out to be a generic order parameter that allows us to identify specific behaviours of the dynamics from a macroscopic viewpoint. Particular cases even enable through energy balance to determine the Hamiltonian behavior without requiring the tedious computation of the microscopic dynamics. Using PHS theory, we systematically identify a critical threshold value for the Hamiltonian, which relies only on exogenous input and can be physically interpreted.",
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"volume": "18",
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"pages": "906--929",
"publisher": "American Institute of Mathematical Sciences (AIMS)",
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"created_date": "2023-03-17",
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"type": "journal-article",
"title": "Path Following Control for a Class of Electro-Mechanical Systems and its Application",
"authors": [
{
"given": "Mitsuru",
"family": "Taniguchi",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Nagoya University"
}
]
}
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{
"given": "Kenji",
"family": "Fujimoto",
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"affiliation": [
{
"name": "Nagoya University"
}
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"abstract": "This paper is devoted to path following control for electro-mechanical systems described by the port-Hamiltonian form. Path following control is investigated mainly for mechanical systems since the desired path is characterized by its ‘position’. Therefore, most of the existing results use the nature of second order differential equations since mechanical systems are described by them. The present paper proposes a new path following controller for 3rd order differential equations described by the port-Hamiltonian form. This is done by generalizing the authors’ former result on passive velocity field control for mechanical systems.",
"container_title": "Advanced Engineering Forum",
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"pages": "501--506",
"publisher": "Trans Tech Publications, Ltd.",
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{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
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},
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},
{
"identifiers": {
"doi": "10.23919/ecc.2009.7074410"
},
"citation": "Taniguchi M, Fujimoto K (2009) Asymptotic path following and velocity control of port-Hamiltonian systems. 2009 European Control Conference (ECC) 236–24"
},
{
"identifiers": {
"doi": "10.1109/cdc.2009.5400011"
},
"citation": "Taniguchi M, Fujimoto K (2009) Time-varying path following control for port-Hamiltonian systems. Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference 3323–332"
}
]
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"doi": "10.4028/www.scientific.net/amm.385-386.839"
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"type": "journal-article",
"title": "Port-Controlled Hamiltonian Control of IM Based on Back-to-Back Converter",
"authors": [
{
"given": "Ning",
"family": "Zhu",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Qingdao University"
}
]
}
},
{
"given": "Hai Sheng",
"family": "Yu",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Qingdao University"
}
]
}
},
{
"given": "Bing Qiang",
"family": "Shan",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Qingdao University"
}
]
}
}
],
"abstract": "A method of port-controlled Hamiltonian (PCH) systems energy-shaping control is presented for the four-quadrant control problem of squirrel cage induction motor (IM) drive system. First, the PCH models of IM drive system are developed. Then, the PCH controllers are designed based on the control theory of closed-loop state error PCH system. The coordinated control of the grid-side and the motor-side are applied in Matlab/simulink, which the motor-side is started after the grid-side is achieved up to stable. The controlled system can be achieved that DC bus voltage controllable, unity power factor, energy bidirectional flow, IM run in the four-quadrant, etc.",
"container_title": "Applied Mechanics and Materials",
"publication_year": "2013",
"volume": "385-386",
"issue": "",
"pages": "839--842",
"publisher": "Trans Tech Publications, Ltd.",
"event": "",
"keywords": [],
"created_date": "2013-08-30",
"permalink": "port-controlled-hamiltonian-control-of-im-based-on-back-to-back-converter",
"references": [
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega R, van der Schaft A, Maschke B, Escobar G (2002) Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38(4):585–596. https://doi.org/10.1016/s0005-1098(01)00278-"
},
{
"identifiers": {
"doi": "10.1109/ramech.2011.6070466"
},
"citation": "Yu H, Liu X, Yu J, Song Q (2011) Position tracking control of PMSM based on state error PCH and MTPA principle. 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM) 113–11"
}
]
},
{
"id": "53a14d81-b889-5544-ab0b-e44adb3b63dc",
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"doi": "10.4028/www.scientific.net/amm.385-386.901"
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"type": "journal-article",
"title": "Control Strategy of the DC Drive Systems Based on the State Error Port-Hamiltonian Theory",
"authors": [
{
"given": "Bing Qiang",
"family": "Shan",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Qingdao University"
}
]
}
},
{
"given": "Hai Sheng",
"family": "Yu",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Qingdao University"
}
]
}
},
{
"given": "Zhao Bo",
"family": "Teng",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Qingdao University"
}
]
}
},
{
"given": "Ning",
"family": "Zhu",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Qingdao University"
}
]
}
}
],
"abstract": "A novel state error port-controlled Hamiltonian (PCH) system method is presented for speed control the direct current (DC) separately excited motor. The unity power factor regulation of three phase pulse width modulated (PWM) rectifier is also implemented. Then, the state error PCH system control theory, the PCH model of the PWM rectifier and DC motor are proposed. Moreover, the control algorithm of the duty ratio switch function is presented for the PWM rectifier. Theoretical analysis and simulation results show that the controller has good speed tracking and unity power factor control performances.",
"container_title": "Applied Mechanics and Materials",
"publication_year": "2013",
"volume": "385-386",
"issue": "",
"pages": "901--906",
"publisher": "Trans Tech Publications, Ltd.",
"event": "",
"keywords": [],
"created_date": "2013-08-30",
"permalink": "control-strategy-of-the-dc-drive-systems-based-on-the-state-error-port-hamiltonian-theory",
"references": [
{
"identifiers": {
"doi": "10.1109/9.661597"
},
"citation": "Chiasson J (1998) A new approach to dynamic feedback linearization control of an induction motor. IEEE Trans Automat Contr 43(3):391–397. https://doi.org/10.1109/9.66159"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega R, van der Schaft A, Maschke B, Escobar G (2002) Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38(4):585–596. https://doi.org/10.1016/s0005-1098(01)00278-"
}
]
},
{
"id": "6a13416b-9575-54f9-8fca-f2fc89c7701d",
"identifiers": {
"doi": "10.4028/www.scientific.net/amm.571-572.959"
},
"type": "journal-article",
"title": "Research on the PCHD Control Strategy for Three-Phase Voltage Source PWM Rectifier under Unbalanced Supply Voltage Condition",
"authors": [
{
"given": "Feng Jiao",
"family": "Zhao",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Beijing Information Science and Technology University"
}
]
}
},
{
"given": "Jiu He",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Beijing Information Science and Technology University"
}
]
}
},
{
"given": "Bai Le",
"family": "Zhang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "Beijing Information Science and Technology University"
}
]
}
}
],
"abstract": "In order to improve the performance of the rectifier under unbalanced voltage condition, this paper adopts port-controlled Hamiltonian dissipation (PCHD) control strategy. On the basic of the mathematical model of the three-phase voltage source PWM rectifier, its PCHD model in synchronous dq coordinates was established by orthogonal transformation. The desired equilibrium point of the system was obtained according to the target of the design. The controller was designed with the method of interconnection and damping assignment, and the PI control method was introduced to restrain the steady-state error of DC side. Simulation results show that the designed control system has perfect static and dynamic performances and robustness.",
"container_title": "Applied Mechanics and Materials",
"publication_year": "2014",
"volume": "571-572",
"issue": "",
"pages": "959--964",
"publisher": "Trans Tech Publications, Ltd.",
"event": "",
"keywords": [],
"created_date": "2014-06-10",
"permalink": "research-on-the-pchd-control-strategy-for-three-phase-voltage-source-pwm-rectifier-under-unbalanced-supply-voltage-condition",
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},
{
"id": "717e4919-3305-50e8-8cc6-251cb0a58a84",
"identifiers": {
"doi": "10.4028/www.scientific.net/amr.860-863.2385"
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"type": "journal-article",
"title": "Research on a Nonlinear Control Strategy for Three-Phase Voltage Sources PWM Rectifier with Resistive and Inductive Load",
"authors": [
{
"given": "Xian Qin",
"family": "Ma",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "BISTU"
}
]
}
},
{
"given": "Jiu He",
"family": "Wang",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "BISTU"
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]
}
},
{
"given": "Ting Ting",
"family": "Dong",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "BISTU"
}
]
}
}
],
"abstract": "The mathematical model of three-phase voltage sources Pulse Width Modulation (PWM) rectifier is nonlinear, in view of the traditional linear control strategys weak disturbance-rejection ability with resistive and inductive load, a new passivity-based control strategy was proposed according to passivity-based control theory. Energy shaping method based on PCHD (Port Control Hamiltonian with Dissipation) model and the IDA-PBC (Interconnection and Damping Assignment Passivity Based Control) control algorithm is adopted to design passivity-based controller, which is able to make the energy function have the minimum value when rectifier is at the desired point, thus improving the stability and the load disturbance-rejection ability. Simulation results show that passivity-based control method can make this system possess the high-performance of robustness and dynamic.",
"container_title": "Advanced Materials Research",
"publication_year": "2013",
"volume": "860-863",
"issue": "",
"pages": "2385--2389",
"publisher": "Trans Tech Publications, Ltd.",
"event": "",
"keywords": [],
"created_date": "2013-12-13",
"permalink": "research-on-a-nonlinear-control-strategy-for-three-phase-voltage-sources-pwm-rectifier-with-resistive-and-inductive-load",
"references": [
{
"identifiers": {
"doi": "10.1109/tac.2008.2006930"
},
"citation": "Ortega R, van der Schaft A, Castanos F, Astolfi A (2008) Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems. IEEE Trans Automat Contr 53(11):2527–2542. https://doi.org/10.1109/tac.2008.200693"
}
]
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{
"id": "a3ddaa46-697e-53eb-b319-5897aed5f8b7",
"identifiers": {
"doi": "10.4028/www.scientific.net/ast.61.157"
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"type": "proceedings-article",
"title": "Distributed Impedance Model of Ionic Polymer-Metal Composite Actuators",
"authors": [
{
"given": "Kentaro",
"family": "Takagi",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "RIKEN"
}
]
}
},
{
"given": "Kinji",
"family": "Asaka",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "National Institute of Advanced Industrial Science and Technology (AIST)"
}
]
}
},
{
"given": "Gou",
"family": "Nishida",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "RIKEN"
}
]
}
},
{
"given": "Yoshihiro",
"family": "Nakabo",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "RIKEN"
}
]
}
},
{
"given": "Zhi Wei",
"family": "Luo",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": [
{
"name": "RIKEN"
}
]
}
}
],
"abstract": "This paper discusses a distributed system modeling of the electrical impedance of ionic polymer-metal composites from the point of view of the electrode roughness. A diffusion-like equation is derived from the distributed circuit model which represents the fractal-like distribution of the polymer-electrode interface. The port-Hamiltonian representation of the system is also shown. In the experiment, the frequency response of the impedance is measured under various conditions.",
"container_title": "Advances in Science and Technology",
"publication_year": "2009",
"volume": "61",
"issue": "",
"pages": "157--162",
"publisher": "Trans Tech Publications Ltd",
"event": "",
"keywords": [],
"created_date": "2009-03-16",
"permalink": "distributed-impedance-model-of-ionic-polymer-metal-composite-actuators",
"references": []
},
{
"id": "0ed6e05f-1077-5f96-9eaf-199cd762372e",
"identifiers": {
"doi": "10.4050/f-0079-2023-18124"
},
"type": "proceedings-article",
"title": "Hamiltonian and Port-Hamiltonian Mechanics as A Possible Alternative for Helicopter Flight Dynamics Representation",
"authors": [
{
"given": "Marilena",
"family": "Pavel",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
}
],
"abstract": "In the case of complicated, non-linear problems where simulations in the time-domain are needed to understand systems' behavior, Hamiltonian formulation can be used to obtain insight into system evolution in time. Hamiltonian dynamics has two advantages: 1) there is no need to write down the complete equations of motion explicity and thus help to solve the problem much quicker and 2) it can help understanding and designing controllers using the energy flow, Hamiltonian phase space and port-Hamiltonian representation for system evolution. The present paper highlights the importance of using the Hamiltonian dynamics for helicopter flight dynamics, exemplifying it for the helicopter pitch motion and for a 6-DOF nonlinear model. The paper shows that, using Hamiltonian formulation, one can define energy stagnations areas in the Hamiltonian phase plane and dissipative non-passive terms in the equations of motion that need to be restrained when designing a helicopter controller. The extension of the Hamiltonian to the port-Hamiltonian formulation can be used to design nonlinear controllers robust to system nonlinearities.",
"container_title": "Proceedings of the Vertical Flight Society 79th Annual Forum",
"publication_year": "2023",
"volume": "",
"issue": "",
"pages": "1--9",
"publisher": "The Vertical Flight Society",
"event": "",
"keywords": [],
"created_date": "2023-06-26",
"permalink": "hamiltonian-and-port-hamiltonian-mechanics-as-a-possible-alternative-for-helicopter-flight-dynamics-representation",
"references": []
},
{
"id": "46f0c00c-d157-58d6-b6df-bb5b5d03e8b1",
"identifiers": {
"doi": "10.4156/jdcta.vol7.issue1.75"
},
"type": "journal-article",
"title": "Bounded Control of Port-Controlled Hamiltonian Systems and Application in Synchronous Generator",
"authors": [
{
"given": "Bing Wang",
"family": "-",
"literal": null,
"source_fields": {
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}
},
{
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"abstract": "Organizing physics has been a long-standing preoccupation of applied category theory, going back at least to Lawvere. We contribute to this research thread by noticing that Hamiltonian mechanics and gradient descent depend crucially on a consistent choice of transformation -- which we call a reaction structure -- from the cotangent bundle to the tangent bundle. We then construct a compositional theory of reaction structures. Reaction-based systems offer a different perspective on composition in physics than port-Hamiltonian systems or open classical mechanics, in that reaction-based composition does not create any new constraints that must be solved for algebraically. The technical contributions of this paper are the development of symmetric monoidal categories of open energy-driven systems and open differential equations, and a functor between them, functioning as a\"functorial semantics\"for reaction structures. This approach echoes what has previously been done for open games and open gradient-based learners, and in fact subsumes the latter. We then illustrate our theory by constructing an n-fold pendulum as a composite of n-many pendula.",
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"abstract": "The anisotropic and heterogeneous N-dimensional wave equation, controlled and observed at the boundary, is considered as a port-Hamiltonian system. The recent structure-preserving Partitioned Finite Element Method is applied, leading directly to a finite-dimensional port-Hamiltonian system, and its numerical analysis is done in a general framework, under usual assumptions for finite element. Compatibility conditions are then exhibited to reach the best trade off between the convergence rate and the number of degrees of freedom for both the state error and the Hamiltonian error. Numerical simulations in 2D are performed to illustrate the optimality of the main theorems among several choices of classical finite element families.",
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"abstract": "Concentrated integration of large scale wind power demands stronger robustness of VSC-HVDC transmission. Based on PCHD (Port Controled Hamiltonian with Dissipation) equation, the PCHD model of voltage source converter (VSC) in abc frame and d-q rotating frame are built and the strict passivity of VSC is proved. Desired energy function is constructed and used as Lyapunov function by assigning link matrix and damping matrix. Impact from VSC equivalent dc resistance is eliminated by additional damping matrix. The IDA-PB (Interconnection and Damping Assignment Passivity-based) controller is designed based on desired equilibrium point and state variable. With different operation conditions, VSC-HVDC and its control system are simulated by software PSCAD/EMTDC, the results show the proposed control strategy has good performance and strong robustness.",
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"abstract": "The present manuscript concerns the design of structure-preserving discretization methods for the solution of systems of boundary controlled Partial Differential Equations (PDEs) thanks to the port- Hamiltonian formalism. We first provide a general structure of infinite-dimensional port-Hamiltonian systems (pHs) for which the Partitioned Finite Element Method (PFEM) straightforwardly applies. The proposed strategy is particularised to abstract multidimensional linear hyperbolic and parabolic systems of PDEs. Then we show that instructional model problems based on the wave equation, Mindlin equation and heat equation fit within this unified framework. Secondly we introduce the ongoing project SCRIMP (Simulation and ContRol of Interactions in Multi-Physics) developed for the numerical simulation of infinite-dimensional pHs. SCRIMP notably relies on the FEniCS open-source computing platform for the finite element spatial discretization. Finally, we illustrate how to solve the considered model problems within this framework by carefully explaining the methodology. As additional support, companion interactive Jupyter notebooks are provided.",
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"title": "Port-Hamiltonian Based Control of the Sun-Earth 3D Circular Restricted Three-Body Problem: Stabilization of the <i>L</i><sub>1</sub> Lagrange Point",
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"abstract": "In this paper, we use Port-Hamiltonian framework to stabilize the Lagrange points in the Sun-Earth three-dimensional Circular Restricted Three-Body Problem (CRTBP). Through rewriting the CRTBP into Port-Hamiltonian framework, we are allowed to design the feedback controller through energy-shaping and dissipation injection. The closed-loop Hamiltonian is a candidate of the Lyapunov function to establish nonlinear stability of the designed equilibrium, which enlarges the application region of feedback controller compared with that based on linearized dynamics. Results show that the Port-Hamiltonian approach allows us to successfully stabilize the Lagrange points, where the Linear Quadratic Regulator (LQR) may fail. The feedback system based on Port-Hamiltonian approach is also robust against white noise in the inputs.",
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"abstract": "In this paper, a novel methodology of nonlinear control is used, and a passivity-based control of contractive port-controlled Hamiltonian (PCH) systems is applied to a permanent magnet synchronous motor (PMSM). This methodology, also called “IDA-PBC” (Trajectory Injection and Damping Assignment—Passivity-Based Control), uses passivity-based control of PCH systems “IDA-PBC” and exploits the properties of contractive Hamiltonian systems, resulting in a closed loop with its contractive system desired dynamics, thus obtaining an exponential trajectory tracking without relying on the error coordinates. In this system, a few steps are proposed in order to divide and modularize the methodology so it can be redesigned or reapplied in other systems by the reader. First, we define the model and set the way to solve the “matching equation.” Then the feasible and reference trajectories are obtained. After that, the desired Dirac structure and energy function are set in order to meet the methodology requirements. Finally, the control law is obtained, and simulations were performed. The desired trajectories (which can be time varying) are arbitrarily set, and the exponential convergence to the desired trajectories is archived. The results obtained from the simulations are an initial approach to the improvement of propulsion algorithms in electrified vehicles, where linear controls are still used and have poor performance compared to the visited methodology.",
"container_title": "SAE Technical Paper Series",
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"publisher": "SAE International",
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"references": [
{
"identifiers": {
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},
"citation": "Brasel, M. A gain-scheduled multivariable LQR controller for permanent magnet synchronous motor. 2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR) 722–725 (2014) doi:10.1109/mmar.2014.6957443"
},
{
"identifiers": {
"doi": "10.1109/vppc.2016.7791566"
},
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},
{
"identifiers": {
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{
"identifiers": {
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{
"identifiers": {
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{
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"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems and its application to a magnetic levitation system. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) 3388–3393 doi:10.1109/cdc.2001.980360"
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{
"identifiers": {
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{
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},
{
"identifiers": {
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{
"identifiers": {
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"identifiers": {
"doi": "10.4304/jcp.8.2.501-508"
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"type": "journal-article",
"title": "Hamiltonian Modeling and Passivity-based Control of Permanent Magnet Linear Synchronous Motor",
"authors": [
{
"given": "Zhiping",
"family": "Cheng",
"literal": null,
"source_fields": {
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{
"given": "Liucheng",
"family": "Jiao",
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"abstract": "In view of the control problem of Permanent magnet linear synchronous motor(PMLSM), applying port-controlled Hamiltonian (PCH) systems and passivity -based control theory, the modeling of Permanent Magnet Linear Synchronous Motor is presented. Using energy-shaping and passivity-based control(PBC) method, the control principle of PMLSM is given. The control laws is presented in load known conditions. The equilibrium stability is analyzed and the feedback controller is designed for the control system of PMLSM. A simulation model has been established in the Simulink/Matlab environment and the simulation results are given. In order to compare the control effect, traditional PID control simulation results are also provided in the same conditions. The simulation results show that the proposed scheme has a better performance than that of conventional PID controller.",
"container_title": "Journal of Computers",
"publication_year": "2013",
"volume": "8",
"issue": "2",
"pages": "",
"publisher": "International Academy Publishing (IAP)",
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"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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"doi": "10.1016/s0005-1098(01)00278-3"
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"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
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"identifiers": {
"doi": "10.46300/9106.2021.15.53"
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"type": "journal-article",
"title": "A Novel Control Method and Mathematical Model for Intelligent Robot",
"authors": [
{
"given": "Nianxiang",
"family": "Wu",
"literal": null,
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"affiliation": [
{
"name": "Anhui National Defense Vocational College, Anhui, Luan237001, China"
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"abstract": "Hamiltonian method based on action micro-control is widely used in the control of mechanical arm synchronous motor. In order to realize the combination of robot dynamics and drive motor control, Hamiltonian control method is used in this paper to exploit a novel controller for robot, which can be used for better steady-state characteristics in the system. However, dynamic response of port-controlled Hamiltonian (PCH) of control system is slower, so the related control method is exploited and coordinated with the proportional-derivative (PD) plus gravity compensation. At this time, the system has both the fast dynamic response of the PD and the steady state of the PCH. The reverse motor method is used and the two controllers are combined by current conversion to realize the overall control of the robot and the drive motor. The robot drive motor is controlled, and the robot joint position control is combined with the drive motor current control by current conversion. It can be seen from the simulation results that the coordinately controlling the end position of robot can reach the desired position quickly and accurately. Moreover, compared with the separate control of PD plus gravity compensation and PCH control method, it is proved that this scheme has both a fast dynamic process and better performance and ability to resist load torque disturbance. So control method proposed in this paper has a good application prospect",
"container_title": "International Journal of Circuits, Systems and Signal Processing",
"publication_year": "2021",
"volume": "15",
"issue": "",
"pages": "486--493",
"publisher": "North Atlantic University Union (NAUN)",
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"type": "proceedings-article",
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"authors": [
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"given": "Juan",
"family": "Tomassini",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": []
}
},
{
"given": "Alejandro",
"family": "Donaire",
"literal": null,
"source_fields": {
"sequence": "additional",
"affiliation": []
}
},
{
"given": "Sergio",
"family": "Junco",
"literal": null,
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],
"abstract": "This paper presents a passivity-based controller design (PBC) aimed at stabilizing DC-DC power electronic converters with nonlinear dissipative loads. The converters considered in this work are the buck, the boost and the buck-boost. First, Bond Graph technique is used to obtain the flat output of each converter model. The controller is designed within the port-Hamiltonian (pH) framework, ensuring stability and other desired closed-loop properties. To this aim a desired closedloop dynamics in pH form with a quadratic storage function and a flat-output-inspired change of variables are proposed, which are common to the three converters. The controllers that render the closed-loop dynamics in the desired pH form are obtained via model matching. This design has two major advantages. The first is that the so-called matching equation can be solved by construction; thus, the cumbersome task of solving partial differential equations is avoided. The second advantage is that in all the converters treated the closed-loop dynamics is linear; thus, the performance of the control system can be easily determined via the tuning of the eigenvalues of the closed-loop evolution matrix. The performance is assessed through digital simulation.",
"container_title": "Proceedings of the 11th International Conference on Integrated Modeling and Analysis in Applied Control and Automation (IMAACA 2018)",
"publication_year": "2018",
"volume": "",
"issue": "",
"pages": "34--42",
"publisher": "CAL-TEK srl",
"event": "",
"keywords": [],
"created_date": "2021-04-30",
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"doi": "10.46354/i3m.2018.imaaca.006"
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"type": "proceedings-article",
"title": "Robustifying passive closed-loop Port-Hamiltonian systems using Observer Based Control",
"authors": [
{
"given": "Matías",
"family": "Nacusse",
"literal": null,
"source_fields": {
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}
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{
"given": "Alejandro",
"family": "Donaire",
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{
"given": "Sergio",
"family": "Junco",
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"abstract": "This paper contributes a passivity-based approach to obtain a control law that robustifies Port-Hamiltonian (pH) control systems under external and state-dependent disturbances using disturbance observers (DO). A twostage design procedure is used to define the Disturbance Observed Based Control (DOBC) scheme. In the first stage a passivity based control law, called Interconnection and Damping assignment (IDA-PBC) is designed in the Bond Graph (BG) domain via BG prototyping, using an undisturbed model of the physical system. This stage is not the main issue of this paper and therefore the IDA-PBC law will be assumed to be known. The second stage, the main result of this paper, consists in the design of the DO and its integration with the IDA-PBC control law. The DO is derived in the BG domain via the integration of the residual signal computed from a Diagnostic Bond Graph (DBG). The methodology is developed through examples in the BG domain and formalized and extended in the pH framework.",
"container_title": "Proceedings of the 11th International Conference on Integrated Modeling and Analysis in Applied Control and Automation (IMAACA 2018)",
"publication_year": "2018",
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"issue": "",
"pages": "43--52",
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"doi": "10.5220/0007832100690079"
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"type": "proceedings-article",
"title": "Modeling and Discretization of Hydraulic Actuated Telescopic Boom System in Port-Hamiltonian Formulation",
"authors": [
{
"given": "Lingchong",
"family": "Gao",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Chair of Materials Handling, Material Flow, Logistics, Technical University of Munich, Botlzmannstrasse15, 85748 Garching and Germany, --- Select a Country ---"
}
]
}
},
{
"given": "Wang",
"family": "Mei",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Chair of Automatic Control, Technical University of Munich, Botlzmannstrasse15, 85748 Garching and Germany, --- Select a Country ---"
}
]
}
},
{
"given": "Michael",
"family": "Kleeberger",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Chair of Materials Handling, Material Flow, Logistics, Technical University of Munich, Botlzmannstrasse15, 85748 Garching and Germany, --- Select a Country ---"
}
]
}
},
{
"given": "Haijun",
"family": "Peng",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Department of Engineering Mechanics, Dalian University of Technology, Linggong Road No. 1, 116023 Dalian and P.R. China, --- Select a Country ---"
}
]
}
},
{
"given": "Johannes",
"family": "Fottner",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Chair of Materials Handling, Material Flow, Logistics, Technical University of Munich, Botlzmannstrasse15, 85748 Garching and Germany, --- Select a Country ---"
}
]
}
}
],
"abstract": "The hydraulic actuated telescopic boom system is the primary operation actuator of mobile cranes and aerial platform vehicles. The purpose of this paper is to develope a unified mathematic model of such a boom system which is a multi-domain system consisting of boom structure and hydraulic drive system. The model is formulated within the port-Hamilton (PH) formalism using the definition of hydraulic system and elastic boom structure as (Stokes-) Dirac structures. The Port-Hamiltonian systems can be easily interconnected thus allowing the description of a complex system as a composition of subsystems. This property is especially useful to model a multi-domain system with energy exchanges between subsystems. Considering the boom structure as a Timoshenko beam, the luffing operation of boom system is simplified in a plane coordinate system. The Port-Hamiltonian model of the hydraulic system and the boom structure are described with details separately, a structure-preserving discretization is applied to transfer the distributed-parameter boom model into a lumped-parameter model. Then the interconnections between the subsystems are illustrated and a complete simulation including hydraulic system is accomplished in MATLAB/Simulink.",
"container_title": "Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications",
"publication_year": "2019",
"volume": "",
"issue": "",
"pages": "69--79",
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"doi": "10.5220/0010581503110319"
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"type": "proceedings-article",
"title": "Energy-based Control for Soft Manipulators using Cosserat-beam Models",
"authors": [
{
"given": "Brandon",
"family": "Caasenbrood",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands, --- Select a Country ---"
}
]
}
},
{
"given": "Alexander",
"family": "Pogromsky",
"literal": null,
"source_fields": {
"sequence": "first",
"affiliation": [
{
"name": "Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands, --- Select a Country ---"
},
{
"name": "Department of Control Systems and Informatics, Saint-Petersburg National Research University of Information Technologies, Mechanics, and Optics (ITMO), Russian Federation, --- Select a Country ---"
}
]
}
},
{
"given": "Henk",
"family": "Nijmeijer",
"literal": null,
"source_fields": {
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"affiliation": [
{
"name": "Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands, --- Select a Country ---"
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]
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],
"abstract": "In this work, we describe an energy-based control method for under-actuated soft manipulators. The continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. Through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passivity, we propose a stabilizing energy-shaping controller that ensures the potential energy is minimal at the desired end-effector configuration. Finally, the effectiveness of the energy-based controller is demonstrated through simulations of a soft manipulator inspired by the tentacle of an octopus.",
"container_title": "Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics",
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"issue": "",
"pages": "311--319",
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"title": "Stable Port-Hamiltonian Neural Networks",
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"given": "Fabian J.",
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"abstract": "In this paper we study the representation of partial differential equations (PDEs) as differential-algebraic equations (DAEs) with dissipative Hamiltonian structure (adHDAEs). We show that these systems not only arise when there are constraints coming from the underlying physics, but many standard PDE models can be seen as an adHDAE on an extended state space. This reflects the fact that models often include closure relations and structural properties. We present a unifying operator theoretic approach to analyze the properties of such operator equations and illustrate this by several applications.",
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"identifiers": {
"doi": "10.1007/978-3-0348-0087-7"
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"citation": "Arendt, W., Batty, C. J. K., Hieber, M. & Neubrander, F. Vector-Valued Laplace Transforms and Cauchy Problems. (Springer Basel, 2011). doi:10.1007/978-3-0348-0087-7"
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"doi": "10.1007/978-3-031-54517-7_15"
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"citation": "Bartel, A., Clemens, M., Günther, M., Jacob, B. & Reis, T. Port-Hamiltonian Systems’ Modelling in Electrical Engineering. Mathematics in Industry 133–143 (2024) doi:10.1007/978-3-031-54517-7_15"
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{
"identifiers": {
"doi": "10.1007/s00498-018-0223-3"
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"citation": "Beattie, C., Mehrmann, V., Xu, H. & Zwart, H. Linear port-Hamiltonian descriptor systems. Mathematics of Control, Signals, and Systems vol. 30 (2018)"
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{
"identifiers": {
"doi": "10.1016/j.ifacol.2024.10.174"
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"citation": "Bendimerad-Hohl, A., Matignon, D., Haine, G. & Lefèvre, L. On Stokes-Lagrange and Stokes-Dirac representations for 1D distributed port-Hamiltonian systems. IFAC-PapersOnLine vol. 58 238–243 (2024)"
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"identifiers": {
"doi": "10.1137/1.9781611971224"
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"citation": "Brenan, K. E., Campbell, S. L. & Petzold, L. R. Numerical Solution of Initial-Value Problems in Differential-Algebraic Equations. (1995) doi:10.1137/1.9781611971224"
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{
"identifiers": {
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{
"identifiers": {
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{
"identifiers": {
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"identifiers": {
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"citation": "Egger, H. & Kugler, T. Damped wave systems on networks: exponential stability and uniform approximations. Numerische Mathematik vol. 138 839–867 (2017)"
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{
"identifiers": {
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"citation": "Egger, H., Kugler, T., Liljegren-Sailer, B., Marheineke, N. & Mehrmann, V. On Structure-Preserving Model Reduction for Damped Wave Propagation in Transport Networks. SIAM Journal on Scientific Computing vol. 40 A331–A365 (2018)"
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{
"identifiers": {
"doi": "10.1515/cmam-2013-0018"
},
"citation": "Emmrich, E. & Mehrmann, V. Operator Differential-Algebraic Equations Arising in Fluid Dynamics. Computational Methods in Applied Mathematics vol. 13 443–470 (2013)"
},
{
"identifiers": {
"doi": "10.52825/dae-p.v2i.2514"
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"citation": "Erbay, M., Jacob, B., Morris, K., Reis, T. & Tischendorf, C. Index Concepts for Linear Differential-Algebraic Equations in Infinite Dimensions. DAE Panel vol. 2 (2024)"
},
{
"identifiers": {
"doi": "10.1137/20m1371166"
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"citation": "Gernandt, H., Haller, F. E. & Reis, T. A Linear Relation Approach to Port-Hamiltonian Differential-Algebraic Equations. SIAM Journal on Matrix Analysis and Applications vol. 42 1011–1044 (2021)"
},
{
"identifiers": {
"doi": "10.1016/j.geomphys.2020.103959"
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"citation": "Gernandt, H., Haller, F. E., Reis, T. & Schaft, A. J. van der. Port-Hamiltonian formulation of nonlinear electrical circuits. Journal of Geometry and Physics vol. 159 103959 (2021)"
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"identifiers": {
"doi": "10.1007/978-94-011-3714-0"
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"identifiers": {
"doi": "10.1002/cta.2870"
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{
"identifiers": {
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{
"identifiers": {
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"citation": "Hairer, E. & Wanner, G. Examples of Stiff Equations. Springer Series in Computational Mathematics 2–14 (1996) doi:10.1007/978-3-642-05221-7_1"
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"identifiers": {
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{
"identifiers": {
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"citation": "Jacob, B., Morris, K. & Zwart, H. C 0-semigroups for hyperbolic partial differential equations on a one-dimensional spatial domain. Journal of Evolution Equations vol. 15 493–502 (2015)"
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"identifiers": {
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},
{
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},
{
"identifiers": {
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},
"citation": "Lamour, R., März, R. & Tischendorf, C. Differential-Algebraic Equations: A Projector Based Analysis. (Springer Berlin Heidelberg, 2013). doi:10.1007/978-3-642-27555-5"
},
{
"identifiers": {
"doi": "10.1137/040611677"
},
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},
{
"identifiers": {
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},
"citation": "Mehl, C., Mehrmann, V. & Wojtylak, M. Distance problems for dissipative Hamiltonian systems and related matrix polynomials. Linear Algebra and its Applications vol. 623 335–366 (2021)"
},
{
"identifiers": {
"doi": "10.1137/18m1164275"
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},
{
"identifiers": {
"doi": "10.1007/s00498-023-00349-2"
},
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},
{
"identifiers": {
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},
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{
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{
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{
"identifiers": {
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},
{
"identifiers": {
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"citation": "Reis, T. & Schaller, M. Port-Hamiltonian Formulation of Oseen Flows. Trends in Mathematics 123–148 (2024) doi:10.1007/978-3-031-64991-2_5"
},
{
"identifiers": {
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{
"identifiers": {
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},
{
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},
{
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},
{
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},
{
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},
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"abstract": "We study the problem of state transition on a finite time interval with minimal energy supply for linear port-Hamiltonian systems. While the cost functional of minimal energy supply is intrinsic to the port-Hamiltonian structure, the necessary conditions of optimality resulting from Pontryagin's maximum principle may yield singular arcs. The underlying reason is the linear dependence on the control, which makes the problem of determining the optimal control as a function of the state and the adjoint more complicated or even impossible. To resolve this issue, we fully characterize regularity of the (differential-algebraic) optimality system by using the interplay of the cost functional and the dynamics. In case of the optimality DAE being characterized by a regular matrix pencil, we fully determine the control on the singular arc. In case of singular matrix pencils of the optimality system, we propose an approach to compute rank-minimal quadratic perturbations of the objective such that the optimal control problem becomes regular. We illustrate the applicability of our results by a general second-order mechanical system and a discretized boundary-controlled heat equation.",
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"abstract": "The nonlinearity of chemical processes primarily arises from strong interdependencies among state variables and the presence of time delays. This characteristic leads to complex dynamic behaviors such as non-minimum phase responses, posing significant challenges for control design. This study presents a novel control strategy that integrates Pade approximation of time delay with a tracking-error-based control law within a port-Hamiltonian (PH) framework. Specifically, the Pade approximation is employed to effectively handle the time delay by approximating exponential delay terms, thereby facilitating its incorporation into the control design and enhancing the robustness of the closed-loop system. Concurrently, the tracking-error-based feedback laws ensure the asymptotic convergence of system trajectories to the desired reference trajectories, even in the presence of non-minimum phase dynamics. The proposed methodology is illustrated through simulations on the quadruple-tank process - a benchmark nonlinear system with inherent time delays. Results demonstrate that the proposed control scheme successfully mitigates the adverse effects of time delay and achieves the closed-loop stabilization at the target equilibrium point.",
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"abstract": "This paper discusses passivity-based boundary controls of flexible beams with large deformations in terms of a distributed parameter port-Hamiltonian system. Distributed parameter systems have been mainly studied from the viewpoint of analytical methods. However, analytical solutions cannot be always derived from nonlinear distributed parameter systems such as the flexible beam. A distributed parameter port-Hamiltonian system is a standard control representation that can be applied to such a complex system without model reductions. The passivity-based boundary controls consist of boundary damping assignment and boundary energy shaping. Inputs and outputs for the controls are systematically derived from the system representation. Finally, we illustrate numerical results of the controls for stabilizing the flexible beam and shaping its potential energy.",
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{
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"citation": "Simo, J. C. & Vu-Quoc, L. On the Dynamics of Flexible Beams Under Large Overall Motions—The Plane Case: Part II. Journal of Applied Mechanics 53, 855–863 (1986)"
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{
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"title": "Proposal of a Passivity-based Observer for Mechanical Systems and its Application to Sliding Mode Observer Design",
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"given": "Fumiya",
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{
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{
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{
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{
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{
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"identifiers": {
"doi": "10.5772/10314",
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},
"type": "book-chapter",
"title": "Passivity Based Control of Hydraulic Linear Arms Using Natural Casimir Functions",
"authors": [
{
"given": "Satoru",
"family": "Sakai",
"literal": null,
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"sequence": "first",
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}
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],
"abstract": "This chapter discusses a modeling and passivity based control of hydraulic arms which are robotic, that is, have asymmetric cylinders. Hydraulic arms are very important components in field robotics, such as construction, agriculture, rescue , demining robotics and so on since hydraulic arms are superior to electric arms with respect to the power to weight ratio and also can keep joint forces even when the energy source (the hydraulic pump) does not work. In many cases of electric arms, the driving system (or the actuator dynamics) is simple and almost static, for example, the input torque (or velocity) is just proportional to the control input. On the other hand, in many cases of hydraulic arms, the driving system is complex and consists of compressible fluid systems, that is, nonlinear dynamical systems with unknown (or hard-to-be identified) parameters. To solve these problems, this chapter gives some results about modeling and control of hydraulic arms by applying and developing port-Hamiltonian systems and control theory.",
"container_title": "Cutting Edge Robotics 2010",
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"issue": "",
"pages": "",
"publisher": "InTech",
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"type": "book-chapter",
"title": "Hamiltonian Representation of Magnetohydrodynamics for Boundary Energy Controls",
"authors": [
{
"given": "Gou",
"family": "Nishida",
"literal": null,
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"abstract": "This chapter shows that basic boundary control strategies for magnetohydrodynamics (MHD) can be derived from a formal system representation, called a port-Hamiltonian system (Van der Schaft and Maschke, 2002). The port-Hamiltonian formulation clarifies collocated input/output pairs used for stabilizing and assigning a global stable point. The controls called passivity-based controls (Arimoto, 1996; Ortega et al., 1998; Van der Schaft, 2000; Duindam et al., 2009) are simple and robust to disturbances. Moreover, port-Hamiltonian systems can be connected while keeping their consistency with respect to energy flows. Finally, we show that port-Hamiltonian systems can be used for boundary controls. In the future, this theory might be specialized, for instance, in order to control disruptions of Tokamak plasmas (Wesson, 2004; Pironti and Walker, 2005; Ariola and Pironti, 2008). This chapter emphasizes the versatility of control system representations.",
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"title": "Passivity-Based Control and Sliding Mode Control applied to Electric Vehicles based on Fuel Cells, Supercapacitors and Batteries on the DC Link",
"authors": [
{
"given": "M.",
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"abstract": "to control function which compensate this positive value by the difference between the SC voltage and its reference. We are in discharging mode. After the load variation (t > 1.5 s), the current in the DC link became equal to the load current. The SC current I SC became null. We have a small variation in the batteries currents. in the of",
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"title": "Energy-consistent Petrov–Galerkin time discretization of port-Hamiltonian systems",
"authors": [
{
"given": "Jan",
"family": "Giesselmann",
"literal": null,
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{
"name": "Department of Mathematics, Technische Universität Darmstadt, Dolivostr. 15, 64293 Darmstadt,Germany"
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"abstract": "For a general class of nonlinear port-Hamiltonian systems we develop a high-order time discretization scheme with certain structure preservation properties. The finite or infinite-dimensional system under consideration possesses a Hamiltonian function, which represents an energy in the system and is conserved or dissipated along solutions. For infinite-dimensional systems this structure is preserved under suitable Galerkin discretization in space. The numerical scheme is energy-consistent in the sense that the Hamiltonian of the approximate solutions at time grid points behaves accordingly. This structure preservation property is achieved by specific design of a continuous Petrov–Galerkin (cPG) method in time. It coincides with standard cPG methods in special cases, in which the latter are energy-consistent. Examples of port-Hamiltonian ODEs and PDEs are presented to visualize the framework. In numerical experiments the energy consistency is verified and the convergence behavior is investigated.",
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"issue": "",
"pages": "335--367",
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{
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"citation": "Altmann R, Herzog R (2021) Continuous Galerkin schemes for semiexplicit differential-algebraic equations. IMA Journal of Numerical Analysis 42(3):2214–2237. https://doi.org/10.1093/imanum/drab03"
},
{
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},
{
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{
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{
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"doi": "10.1137/18m1190628"
},
"citation": "Celledoni E, Eidnes S, Owren B, Ringholm T (2018) Dissipative Numerical Schemes on Riemannian Manifolds with Applications to Gradient Flows. SIAM J Sci Comput 40(6):A3789–A3806. https://doi.org/10.1137/18m119062"
},
{
"identifiers": {},
"citation": "Celledoni, E., Energy-Preserving and Passivity-Consistent Numerical Discretization of Port-Hamiltonian Systems (2017)"
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{
"identifiers": {
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{
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"type": "journal-article",
"title": "Modeling of Multi Terminal VSC-HVDC links using port-Hamiltonian Systems",
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"given": "Montserrat",
"family": "Trejo-Guerra",
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"abstract": "In recent years, different strategies have been used to model HVDC systems. A usual strategy is to look for the models simplification (or linearization) to do a small-signal analysis. However, VSC-HVDC multiterminal links have intrinsically non-linear characteristics that need to be considered. Port-Hamiltonian (pH) systems provide a modeling methodology that allows incorporating the elements of the HVDC system in a modular way while explicitly providing the energy function, internal interconnection, and dissipation, which is helpful for analysis and control. This paper presents the modeling of a multiterminal HVDC network commonly used in the Electrical Power Systems literature from the pH perspective. It aims to use the pH structure to incorporate elements into the system while preserving its properties. Numerical simulations are carried out to show a comparison between the common model and the pH representation and it is shown that the latter reproduces the same dynamics of the former without loss of information but gaining in simplicity and structure.",
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"title": "On Disturbance Rejection for a Class of Underactuated Hamiltonian Systems",
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"abstract": "In this work, the problem of additive perturbations is studied for a class of port Control Hamiltonian (PCH) systems. The considered class of Hamiltonian systems includes underactuated systems, which continue to be an important open study area. The starting point of the used methodology begins by considering that a previous tracking control has already made the equilibrium point of the error dynamic system asymptotically stable. The Integral Control (IC) reported in cite{ortega2012robust} and cite{ferguson2017integral} are implemented in the PCH class system so that it can reject the constant additive perturbations and conserves the Hamiltonian system structure. The results are compared and tested in a studied case with the system application of the Permanente Magnet Synchronous Motor (PMSM), and the MATLAB Simulink simulations obtained are exposed to compare the performance of both controls.",
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"title": "Observer design for a class of nonlinear Hamiltonian systems based on energy function structure",
"authors": [
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"given": "Michael",
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"abstract": "In this paper the observer design problem for a class of nonlinear port-Hamiltonian system is addressed. The class of nonlinear Hamiltonian system is based on the structure of energy function where it is possible to pull the state apart at measured and unmeasured states which generates two interconnected Hamiltonian systems. Exploiting the properties of the class of nonlinear Hamiltonian systems a reduced order observation scheme is proposed. Finally the observer design proposed in this paper is evaluated in a magnetic levitator in order to prove its the convergence properties, also it is comparing the observer convergence characteristics and the observer performance among the observation schemes that are reported in the literature.",
"container_title": "Memorias del Congreso Nacional de Control Automático",
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"type": "journal-article",
"title": "Evaluation of a Passive-Based Controller for Power Monitoring in Networks of High Voltage Transmission Lines in Direct Current with Voltage Source Converters (VSC–HVDC)",
"authors": [
{
"given": "Montserrat",
"family": "Trejo-Guerra",
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"abstract": "In this paper a tracking Passivity--based Control (PBC) for a multiterminal Voltage Source Converter based High Voltage Direct Current Network (VSC--HVDC) is evaluated. First, the system (an actual multiterminal HVDC) described as a Port Hamiltonian (PH) System and the controller are presented and subsequently three scenarios are proposed to evaluate the closed--loop behavior, namely: (i) load changes; (ii) generation changes and, (iii) DC--bus changes. Numerical simulations are carried out and results shown the robustness of the closed--loop to cope with these common disturbances.",
"container_title": "Memorias del Congreso Nacional de Control Automático",
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"type": "journal-article",
"title": "A Passivity-Based PI Control of Quasi-Resonant Buck Converter",
"authors": [
{
"given": "Agustín",
"family": "Sánchez-Contreras",
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{
"given": "Oscar",
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"abstract": "In order to guarantee the stability of quasi-resonant converters, the zero-current switching quasi-resonant buck topology is supplied with a PI passivity-based controller in this study. An adequate and full-order model with constant steady-state solutions is generated, via the interconnection of port-Hamiltonian systems based on the principal structure of the converter. The passivity-based approach is employed to complete the control design, and numerical validation results are provided to ensure performance estimations.",
"container_title": "Memorias del Congreso Nacional de Control Automático",
"publication_year": "2024",
"volume": "6",
"issue": "1",
"pages": "639--644",
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"doi": "10.58571/cnca.amca.2024.032"
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"type": "journal-article",
"title": "A Speed Tracking Passivity Based Control of Induction Motors",
"authors": [
{
"given": "Fernanda",
"family": "Ramos-García",
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"abstract": "In this work, the problem of speed tracking control for the Induction Motor (IM) is studied by implementing a Passivity Based Control (PBC) scheme for the Port Controlled Hamiltonian (PCH) mathematical model of the system. The first step of the implemented methodology is to analyze the model structure and exploit its properties to design a speed tracking control. The mathematical model used to design the speed tracking control is in the dq reference frame, where the stator electrical sinusoidal signals are transformed into constant signals. The importance of the contribution is embedded in the system inversion, as the IM has an electrical subsystem not completely actuated, which makes the control scheme implementation for the IM not a trivial result. For illustration purposes, the numerical evaluation was done by a MATLAB Simulink simulation that shows that the designed control is able to follow variant speed references.",
"container_title": "Memorias del Congreso Nacional de Control Automático",
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"title": "Modeling and control of a Power Electronic Transformer within the Hamiltonian Systems Framework",
"authors": [
{
"given": "Paulina",
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"given": "Emilio",
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"abstract": "In this paper, a mathematical model for a three-stage PET is proposed based on the port-Hamiltonian systems framework. Two controllers are integrated: a passive-PI controller implemented in the first stage of the PET and a conventional PI controller for the isolation stage. Their performance is evaluated for three interconnected stages. The implementation demonstrates the robustness of the passive controller when another converter is connected. The validation of the complete mathematical model and the correct operation of the closedloop system are numerically evaluated in Simscape-MATLAB.",
"container_title": "Memorias del Congreso Nacional de Control Automático",
"publication_year": "2025",
"volume": "8",
"issue": "1",
"pages": "196--201",
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"created_date": "2025-12-30",
"permalink": "modeling-and-control-of-a-power-electronic-transformer-within-the-hamiltonian-systems-framework",
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"type": "journal-article",
"title": "A New PI Controller Scheme for a Class D Parallel Resonant Converter",
"authors": [
{
"given": "Agustín",
"family": "Sánchez-Contreras",
"literal": null,
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{
"given": "Víctor",
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{
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"abstract": "In this paper, the modeling problem and the structural analysis from a control perspective of a Class D Parallel Resonant Converter are addressed. It is shown that the model of the converter can be written as a Port-Controlled Hamiltonian system. In addition, from the structural analysis of this model, it is formally proved that the control input of the device is given by the overlap of the two duty cycles that control the two switches included in the device. To illustrate the validity of this assertion, a classical PI controller is numerically implemented showing that manipulation of this variable leads to the achievement of a control objective.",
"container_title": "Memorias del Congreso Nacional de Control Automático",
"publication_year": "2026",
"volume": "8",
"issue": "1",
"pages": "331--336",
"publisher": "Asociaciﾃｳn de Mﾃｩxico de Control Automﾃ｡tico",
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"type": "journal-article",
"title": "A Generalized Port-Hamiltonian Approach to Modeling Losses in DC-DC Converters",
"authors": [
{
"given": "Víctor",
"family": "Pérez-Galicia",
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{
"given": "Fernanda",
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"abstract": "This paper presents a systematic methodology to model conduction losses of passive and active elements of power converters within the Port Controlled Hamiltonian (PCH) framework. The motivation behind this approach is not only to achieve a more realistic system representation, preserving the Hamiltonian structure, but also to enable the development and analysis of control schemes that optimize transient performance. The Port-Hamiltonian models for the two basic DC-DC converter topologies, Buck and Boost, are unified into a generalized structure. Finally, the proposed model is validated numerically through MATLAB®-Simulink® simulation comparing the ideal model, the proposed PCH model, with a reference in a Simscape implementation.",
"container_title": "Memorias del Congreso Nacional de Control Automático",
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"title": "ENERGY-BASED MODEL OF A LIQUID PISTON GAS COMPRESSION SYSTEM",
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"abstract": "Compressed air energy storages (CAES) are used in autonomous or semi-autonomous renewable energy systems due to their advantages over battery energy storage, e.g., environmental-friendly production process and sufficiently large number of cycles. Liquid piston (LP) technology for CAES is an alternative to other gas compression technologies developed to provide better heat transfer and thus increase energy efficiency. An energy-based model of a hydropneumatic accumulator using the LP gas compression in a port-Hamiltonian (pH) form is developed for control design. The bond graph framework is utilized to directly derive the equations in the pH form by exploiting the nonlinear fluid capacitance as a storage model. Nonlinearity is depicted analytically for a generalized polytropic process considering the ideal gas condition. The operation of the developed model is validated using MATLAB R2021b Simscape simulations.",
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"abstract": "In this work, we propose a power-balanced model of the full vocal apparatus, described by passive elementary components, the connection of which accounts for fluid-solid and fluid-fluid interactions. In the larynx, we consider a potential incompressible flow of an inviscid fluid between parallel moving walls whose dynamics is reduced to a mass-spring-damper oscillator equipped with an elastic cover. The vocal tract is represented by a macroscopic lumped parameter model derived for the irrotational flow of a compressible inviscid fluid with the simplest kinematics satisfying the boundary conditions. The assembly of elements admits a representation as a constrained global port-Hamiltonian system for which we propose simulations based on a projection method that preserves the power balance. Several numerical experiments show the ability of the model to reproduce a variety of regimes according to different configurations: non oscillating regimes (no phonation), periodic regimes (typical of healthy voice) and non-periodic oscillating regimes (typical of dysphonia). These simulations are used to sketch first cartographies of regimes with respect to con-trol parameters.",
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"abstract": "This paper presents an interpretation in the Bond Graph domain of the Energy Shaping and Interconnection and Damping Assignment control methods, developed for the well-known Port-Controlled Hamiltonian Systems with Dissipation. In order to have a stable equilibrium at a prespecified state, the energy function is modified by adding storage elements to the BG such that the closedloop system energy has a minimum at that state. A new dissipation function is assigned changing the R-field and its interconnection with the rest of the Bond Graph. A desired power conserving interconnection structure is reached through the suitable insertion of power bonds among junctions. Energy shaping, interconnection and damping assignment are performed in a so called Target Bond Graph. The control law is determined by a set of partial differential equations derived from the plant and the Target Bond Graph.",
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"title": "Bayesian Inference for Path Following Control of Port-Hamiltonian Systems with Training Trajectory Data",
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"abstract": ": This paper describes a procedure to design a path following controller of port-Hamiltonian systems based on a training trajectory dataset. The trajectories are generated by human operations, and the training data consist of several trajectories with variations. Hence, we regard the trajectory as a stochastic process model. Then we design a deterministic controller for path following control from the model. In order to obtain reasonable design parameters for a path following controller from the training data, Bayesian inference is adopted in this paper. By using Bayesian inference, we estimate a probability density function of the desired trajectory. Moreover, not only the mean value of the trajectory but also the covariance matrix is acquired. A potential function for path following control is obtained from the probability density function. By incorporating the covariance information into the control system design, it is possible to create a potential function that takes into account uncertainty at each position on the trajectory, and it is expected to construct a control system that generates appropriate assist force for a human operator.",
"container_title": "SICE Journal of Control, Measurement, and System Integration",
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{
"identifiers": {
"doi": "10.1016/0005-1098(89)90094-0"
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"citation": "Slotine, J.-J. E. & Li, W. Composite adaptive control of robot manipulators. Automatica 25, 509–519 (1989)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-3603-3"
},
"citation": "Ortega, R., Loría, A., Nicklasson, P. J. & Sira-Ramírez, H. Passivity-Based Control of Euler-Lagrange Systems. Communications and Control Engineering (Springer London, 1998). doi:10.1007/978-1-4471-3603-3"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.421-431"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory Tracking Control of Nonholonomic Hamiltonian Systems via Generalized Canonical Transformations. European Journal of Control 10, 421–431 (2004)"
},
{
"identifiers": {
"doi": "10.1109/cdc.1980.272026"
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"citation": "Salisbury, J. Active stiffness control of a manipulator in cartesian coordinates. 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes (1980) doi:10.1109/cdc.1980.272026"
},
{
"identifiers": {
"doi": "10.23919/acc.1984.4788393"
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"citation": "Hogan, N. Impedance Control: An Approach to Manipulation. 1984 American Control Conference (1984) doi:10.23919/acc.1984.4788393"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.411-420"
},
"citation": "Duindam, V. & Stramigioli, S. Port-Based Asymptotic Curve Tracking for Mechanical Systems. European Journal of Control 10, 411–420 (2004)"
},
{
"identifiers": {
"doi": "10.1016/j.sysconle.2005.09.006"
},
"citation": "Nielsen, C. & Maggiore, M. Output stabilization and maneuver regulation: A geometric approach. Systems & Control Letters 55, 418–427 (2006)"
},
{
"identifiers": {
"doi": "10.1109/tro.2015.2395711"
},
"citation": "Akhtar, A., Nielsen, C. & Waslander, S. L. Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots. IEEE Trans. Robot. 31, 269–279 (2015)"
},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2016.10.231"
},
"citation": "Nakamura, H. Global Nonsmooth Control Lyapunov Function Design for Path-Following Problem via Minimum Projection Method. IFAC-PapersOnLine 49, 600–605 (2016)"
},
{
"identifiers": {
"doi": "10.1007/3-540-76074-1"
},
"citation": "Schaft, A. L2-Gain and Passivity Techniques in Nonlinear Control. Lecture Notes in Control and Information Sciences (Springer Berlin Heidelberg, 1996). doi:10.1007/3-540-76074-1"
},
{
"identifiers": {
"doi": "10.1016/0034-4877(94)90038-8"
},
"citation": "Van Der Schaft, A. J. & Maschke, B. M. On the Hamiltonian formulation of nonholonomic mechanical systems. Reports on Mathematical Physics 34, 225–233 (1994)"
},
{
"identifiers": {
"doi": "10.1109/81.372847"
},
"citation": "Maschke, B. M., van der Schaft, A. J. & Breedveld, P. C. An intrinsic Hamiltonian formulation of the dynamics of LC-circuits. IEEE Trans. Circuits Syst. I 42, 73–82 (1995)"
},
{
"identifiers": {
"doi": "10.1016/s0167-6911(00)00091-8"
},
"citation": "Fujimoto, K. & Sugie, T. Canonical transformation and stabilization of generalized Hamiltonian systems. Systems & Control Letters 42, 217–227 (2001)"
}
]
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"doi": "10.9746/sicetr.46.83"
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"type": "journal-article",
"title": "Asymptotic Path Following Control for Port-Hamiltonian Systems",
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"given": "Kenji",
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"abstract": "This paper is devoted to trajectory tracking control for port-Hamiltonian systems. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on co-tangent spaces instead of those on tangent spaces. Since portHamiltonian systems can describe a wider class of systems than conventional mechanical ones, the proposed method is applicable to various systems. Furthermore, a numerical simulation of a rolling coin exhibits the effectiveness of the proposed method.",
"container_title": "Transactions of the Society of Instrument and Control Engineers",
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"volume": "46",
"issue": "2",
"pages": "83--90",
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"doi": "10.1109/cdc.1980.272026"
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"citation": "Salisbury, J. Active stiffness control of a manipulator in cartesian coordinates. 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes (1980) doi:10.1109/cdc.1980.272026"
},
{
"identifiers": {
"doi": "10.1115/1.3140701"
},
"citation": "Hogan, N. Impedance Control: An Approach to Manipulation: Part III—Applications. Journal of Dynamic Systems, Measurement, and Control 107, 17–24 (1985)"
},
{
"identifiers": {
"doi": "10.1109/70.782030"
},
"citation": "Li, P. Y. & Horowitz, R. Passive velocity field control of mechanical manipulators. IEEE Trans. Robot. Automat. 15, 751–763 (1999)"
},
{
"identifiers": {
"doi": "10.1109/9.948463"
},
"citation": "Li, P. Y. & Horowitz, R. Passive velocity field control (PVFC). Part I. Geometry and robustness. IEEE Trans. Automat. Contr. 46, 1346–1359 (2001)"
},
{
"identifiers": {
"doi": "10.1007/978-1-4471-0507-7"
},
"citation": "van der Schaft, A. L2 - Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering (Springer London, 2000). doi:10.1007/978-1-4471-0507-7"
},
{
"identifiers": {
"doi": "10.1016/j.automatica.2003.07.005"
},
"citation": "Fujimoto, K., Sakurama, K. & Sugie, T. Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations. Automatica 39, 2059–2069 (2003)"
},
{
"identifiers": {
"doi": "10.1016/s0005-1098(01)00278-3"
},
"citation": "Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002)"
}
]
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"title": "Time-varying Path Following Control for Port-Hamiltonian Systems",
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},
{
"identifiers": {
"doi": "10.1115/1.3140702"
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"citation": "Hogan, N. Impedance Control: An Approach to Manipulation: Part I—Theory. Journal of Dynamic Systems, Measurement, and Control 107, 1–7 (1985)"
},
{
"identifiers": {
"doi": "10.1109/70.782030"
},
"citation": "Li, P. Y. & Horowitz, R. Passive velocity field control of mechanical manipulators. IEEE Trans. Robot. Automat. 15, 751–763 (1999)"
},
{
"identifiers": {
"doi": "10.1109/9.948463"
},
"citation": "Li, P. Y. & Horowitz, R. Passive velocity field control (PVFC). Part I. Geometry and robustness. IEEE Trans. Automat. Contr. 46, 1346–1359 (2001)"
},
{
"identifiers": {
"doi": "10.1109/tra.2004.824693"
},
"citation": "Duindam, V., Stramigioli, S. & Scherpen, J. M. A. Passive Compensation of Nonlinear Robot Dynamics. IEEE Trans. Robot. Automat. 20, 480–487 (2004)"
}
]
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"doi": "10.9746/sicetr.54.812"
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"title": "Potential Function Design for Path Following Control of Port-Hamiltonian Systems via Generalized Canonical Transformations",
"authors": [
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"given": "Yuki",
"family": "OKURA",
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"name": "Graduate School of Engineering, Kyoto University"
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"name": "Graduate School of Engineering, Kyoto University"
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"name": "Mitsubishi Electric Corporation"
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"abstract": "",
"container_title": "Transactions of the Society of Instrument and Control Engineers",
"publication_year": "2018",
"volume": "54",
"issue": "11",
"pages": "812--820",
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{
"identifiers": {
"doi": "10.1016/j.sysconle.2005.09.006"
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"citation": "Nielsen, C. & Maggiore, M. Output stabilization and maneuver regulation: A geometric approach. Systems & Control Letters 55, 418–427 (2006)"
},
{
"identifiers": {
"doi": "10.1109/tcst.2012.2223470"
},
"citation": "Hladio, A., Nielsen, C. & Wang, D. Path Following for a Class of Mechanical Systems. IEEE Trans. Contr. Syst. Technol. 21, 2380–2390 (2013)"
},
{
"identifiers": {
"doi": "10.1109/tro.2015.2395711"
},
"citation": "Akhtar, A., Nielsen, C. & Waslander, S. L. Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots. IEEE Trans. Robot. 31, 269–279 (2015)"
},
{
"identifiers": {
"doi": "10.1109/tac.2007.902731"
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"citation": "Aguiar, A. P. & Hespanha, J. P. Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty. IEEE Trans. Automat. Contr. 52, 1362–1379 (2007)"
},
{
"identifiers": {
"doi": "10.1016/j.ifacol.2016.10.231"
},
"citation": "Nakamura, H. Global Nonsmooth Control Lyapunov Function Design for Path-Following Problem via Minimum Projection Method. IFAC-PapersOnLine 49, 600–605 (2016)"
},
{
"identifiers": {
"doi": "10.1109/cdc.1980.272026"
},
"citation": "Salisbury, J. Active stiffness control of a manipulator in cartesian coordinates. 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes (1980) doi:10.1109/cdc.1980.272026"
},
{
"identifiers": {
"doi": "10.23919/acc.1984.4788393"
},
"citation": "Hogan, N. Impedance Control: An Approach to Manipulation. 1984 American Control Conference (1984) doi:10.23919/acc.1984.4788393"
},
{
"identifiers": {
"doi": "10.1109/9.948463"
},
"citation": "Li, P. Y. & Horowitz, R. Passive velocity field control (PVFC). Part I. Geometry and robustness. IEEE Trans. Automat. Contr. 46, 1346–1359 (2001)"
},
{
"identifiers": {
"doi": "10.1109/9.948464"
},
"citation": "Li, P. Y. & Horowitz, R. Passive velocity field control (PVFC). Part II. Application to contour following. IEEE Trans. Automat. Contr. 46, 1360–1371 (2001)"
},
{
"identifiers": {
"doi": "10.3166/ejc.10.411-420"
},
"citation": "Duindam, V. & Stramigioli, S. Port-Based Asymptotic Curve Tracking for Mechanical Systems. European Journal of Control 10, 411–420 (2004)"
},
{
"identifiers": {
"doi": "10.23919/ecc.2009.7074410"
},
"citation": "Taniguchi, M. & Fujimoto, K. Asymptotic path following and velocity control of port-Hamiltonian systems. 2009 European Control Conference (ECC) 236–241 (2009) doi:10.23919/ecc.2009.7074410"
},
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