Control by interconnection beyond the dissipation obstacle of finite and infinite dimensional port-Hamiltonian systems
Authors
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.
Citation
- Journal: 2015 54th IEEE Conference on Decision and Control (CDC)
- Year: 2015
- Volume:
- Issue:
- Pages: 2489–2494
- Publisher: IEEE
- DOI: 10.1109/cdc.2015.7402582
BibTeX
@inproceedings{Macchelli_2015,
title={{Control by interconnection beyond the dissipation obstacle of finite and infinite dimensional port-Hamiltonian systems}},
DOI={10.1109/cdc.2015.7402582},
booktitle={{2015 54th IEEE Conference on Decision and Control (CDC)}},
publisher={IEEE},
author={Macchelli, Alessandro},
year={2015},
pages={2489--2494}
}