FROM NONLINEAR SYSTEMS TO PORT CONTROLLED HAMILTONIAN SYSTEMS

Authors

Daizhan Cheng, Romeo Ortega, Elena Panteley

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.

Keywords

Hamiltonian systems; pseudo–gradient systems; passivity-based control; feedback equivalence

Citation

• Journal: IFAC Proceedings Volumes
• Year: 2005
• Volume: 38
• Issue: 1
• Pages: 429–434
• Publisher: Elsevier BV
• DOI: 10.3182/20050703-6-cz-1902.00726
• Note: 16th IFAC World Congress

BibTeX

@article{Cheng_2005,
  title={{FROM NONLINEAR SYSTEMS TO PORT CONTROLLED HAMILTONIAN SYSTEMS}},
  volume={38},
  ISSN={1474-6670},
  DOI={10.3182/20050703-6-cz-1902.00726},
  number={1},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Cheng, Daizhan and Ortega, Romeo and Panteley, Elena},
  year={2005},
  pages={429--434}
}

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References

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• 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 – 10.1007/978-1-4471-3603-3
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