On the Control-by-Interconnection interpretation of integral control for port-Hamiltonian systems

Authors

Joel Ferguson, Lihua Zhou, Saeed Ahmed, Jacquelien M.A. Scherpen

Abstract

Integral control is often added to control systems to ensure robustness against unmodelled dynamics and external disturbances. This paper considers the Control-by-Interconnection interpretation of integral control when applied to port-Hamiltonian systems. The interpretation allows the integral controller to be described as a port-Hamiltonian system independent of the plant dynamics. Using this interpretation, we present physical realizations of integral control for a mechanical and an electro-mechanical system.

Keywords

Disturbance rejection; output regulation; passivity-based control; bond graph

Citation

• Journal: IFAC-PapersOnLine
• Year: 2024
• Volume: 58
• Issue: 6
• Pages: 1–6
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2024.08.247
• Note: 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024- Besançon, France, June 10 – 12, 2024

BibTeX

@article{Ferguson_2024,
  title={{On the Control-by-Interconnection interpretation of integral control for port-Hamiltonian systems}},
  volume={58},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2024.08.247},
  number={6},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Ferguson, Joel and Zhou, Lihua and Ahmed, Saeed and Scherpen, Jacquelien M.A.},
  year={2024},
  pages={1--6}
}

Download the bib file

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