Passivity-Based Control of Implicit Port-Hamiltonian Systems

Authors

Alessandro Macchelli

Abstract

The main contribution of this paper is the generalisation of well-known energy-based control techniques (i.e., energy-balancing passivity-based control and passivity-based control with state modulated source), to the case in which the plant is a port-Hamiltonian system in implicit form. A typical situation is when (part of) the system is obtained from the spatial discretization of an infinite dimensional port-Hamiltonian system: in this case, the dynamics is not given in standard input-state-output form, but as a set of DAEs. Consequently, the control by energy-shaping has to be extended to deal with dynamical systems with constraints. The general methodology is discussed with the help of a simple but illustrative example, i.e. a transmission line interconnected with an RLC circuit.

Citation

• Journal: SIAM Journal on Control and Optimization
• Year: 2014
• Volume: 52
• Issue: 4
• Pages: 2422–2448
• Publisher: Society for Industrial & Applied Mathematics (SIAM)
• DOI: 10.1137/130918228

BibTeX

@article{Macchelli_2014,
  title={{Passivity-Based Control of Implicit Port-Hamiltonian Systems}},
  volume={52},
  ISSN={1095-7138},
  DOI={10.1137/130918228},
  number={4},
  journal={SIAM Journal on Control and Optimization},
  publisher={Society for Industrial & Applied Mathematics (SIAM)},
  author={Macchelli, Alessandro},
  year={2014},
  pages={2422--2448}
}

Download the bib file

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