Energy-Based In-Domain Control and Observer Design for Infinite-Dimensional Port-Hamiltonian Systems

Authors

Tobias Malzer, Jesús Toledo, Yann Le Gorrec, Markus Schöberl

Abstract

In this paper, we consider infinite-dimensional port-Hamiltonian systems with in-domain actuation by means of an approach based on Stokes-Dirac structures as well as in a framework that exploits an underlying jet-bundle structure. In both frameworks, a dynamic controller based on the energy-Casimir method is derived in order to stabilise certain equilibrias. Moreover, we propose distributed-parameter observers deduced by exploiting damping injection for the observer error. Finally, we compare the approaches by means of an in-domain actuated vibrating string and show the equivalence of the control schemes derived in both frameworks.

Keywords

infinite-dimensional systems; partial differential equations; in-domain actuation; port-Hamiltonian systems; structural invariants

Citation

• Journal: IFAC-PapersOnLine
• Year: 2021
• Volume: 54
• Issue: 9
• Pages: 468–475
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2021.06.104
• Note: 24th International Symposium on Mathematical Theory of Networks and Systems MTNS 2020- Cambridge, United Kingdom

BibTeX

@article{Malzer_2021,
  title={{Energy-Based In-Domain Control and Observer Design for Infinite-Dimensional Port-Hamiltonian Systems}},
  volume={54},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2021.06.104},
  number={9},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Malzer, Tobias and Toledo, Jesús and Gorrec, Yann Le and Schöberl, Markus},
  year={2021},
  pages={468--475}
}

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References

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