Control of Port-Hamiltonian Systems
Authors
Cristian Secchi, Cesare Fantuzzi, Stefano Stramigioli
Abstract
Energy plays a central role in the control of physical systems since the “shape” of the energy is related to the stability properties of the system. In fact, it is well known from physics, that every configuration characterized by a (local) minimum of the energy exhibits a (locally) stable behavior. Unfortunately the configuration that naturally corresponds to a minimum of the energy is very seldom the desired configuration for the system.
Citation
- ISBN: 9783540497127
- Publisher: Springer Berlin Heidelberg
- DOI: 10.1007/978-3-540-49715-8_2
BibTeX
@inbook{1, ISBN={9783540497127},
author={Cristian Secchi and Cesare Fantuzzi and Stefano Stramigioli},
title={Control of Port-Hamiltonian Systems},
DOI={10.1007/978-3-540-49715-8_2},
booktitle={{Control of Interactive Robotic Interfaces}},
publisher={Springer Berlin Heidelberg},
pages={33--76}
}