Authors

Daizhan Cheng, Alessandro Astolfi, Romeo Ortega

Abstract

In the last few years port controlled Hamiltonian (PCH) systems have emerged as an interesting class of nonlinear models suitable for a large number of physical applications. In this paper we study the question of feedback equivalence of nonlinear systems to PCH systems. More precisely, we give conditions under which a general nonlinear system can be transformed into a PCH system via static state feedback. We consider the two extreme cases where the target PCH system is completely a priori fixed or completely free, as well as the case where it is only partially predetermined. When the energy function is free a set of partial differential equations needs to be solved, on the other hand, if it is fixed we have to deal with a set of algebraic equations. In the former case, we give some verifiable necessary and sufficient conditions for solvability. As a by-product of our analysis we obtain some stabilization results for nonlinear systems.

Keywords

Hamiltonian systems; Linear-gradient systems; Passivity-based control; Feedback equivalence

Citation

BibTeX

@article{Cheng_2005,
  title={{On feedback equivalence to port controlled Hamiltonian systems}},
  volume={54},
  ISSN={0167-6911},
  DOI={10.1016/j.sysconle.2005.02.005},
  number={9},
  journal={Systems & Control Letters},
  publisher={Elsevier BV},
  author={Cheng, Daizhan and Astolfi, Alessandro and Ortega, Romeo},
  year={2005},
  pages={911--917}
}

Download the bib file

References

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