Energy-based Control and Observer Design for higher-order infinite-dimensional Port-Hamiltonian Systems

Authors

Tobias Malzer, Lukas Ecker, Markus Schöberl

Abstract

In this paper, we present a control-design strategy based on the energy-Casimir method for infinite-dimensional, boundary-actuated port-Hamiltonian systems with two-dimensional spatial domain and second-order Hamiltonian. The resulting control law depends on distributed system states that cannot be measured, and therefore, we additionally design an infinite-dimensional observer by exploiting the port-Hamiltonian system representation. A Kirchhoff-Love plate serves as an example in order to demonstrate the proposed approaches.

Keywords

infinite-dimensional systems; partial differential equations; boundary actuation; port-Hamiltonian systems; structural invariants; observer design

Citation

• Journal: IFAC-PapersOnLine
• Year: 2021
• Volume: 54
• Issue: 19
• Pages: 44–51
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2021.11.053
• Note: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021- Berlin, Germany, 11-13 October 2021

BibTeX

@article{Malzer_2021,
  title={{Energy-based Control and Observer Design for higher-order infinite-dimensional Port-Hamiltonian Systems}},
  volume={54},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2021.11.053},
  number={19},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Malzer, Tobias and Ecker, Lukas and Schöberl, Markus},
  year={2021},
  pages={44--51}
}

Download the bib file

References

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