Observer design for a class of nonlinear Hamiltonian systems based on energy function structure
Authors
Christian Granados-Salazar, Michael Rojas, Gerardo Espinosa-Pérez
Abstract
In this paper the observer design problem for a class of nonlinear port-Hamiltonian system is addressed. The class of nonlinear Hamiltonian system is based on the structure of energy function where it is possible to pull the state apart at measured and unmeasured states which generates two interconnected Hamiltonian systems. Exploiting the properties of the class of nonlinear Hamiltonian systems a reduced order observation scheme is proposed. Finally the observer design proposed in this paper is evaluated in a magnetic levitator in order to prove its the convergence properties, also it is comparing the observer convergence characteristics and the observer performance among the observation schemes that are reported in the literature.
Citation
- Journal: Memorias del Congreso Nacional de Control Automático
- Year: 2023
- Volume: 5
- Issue: 1
- Pages: 193–198
- Publisher: Asociación de México de Control Automático
- DOI: 10.58571/cnca.amca.2022.042
BibTeX
@article{2022,
title={{Observer design for a class of nonlinear Hamiltonian systems based on energy function structure}},
volume={5},
ISSN={2594-2492},
DOI={10.58571/cnca.amca.2022.042},
number={1},
journal={Memorias del Congreso Nacional de Control Automático},
publisher={Asociación de México de Control Automático},
author={Granados-Salazar, Christian and Rojas, Michael and Espinosa-Pérez, Gerardo},
year={2022},
pages={193--198}
}