Passivity-based control of implicit port-Hamiltonian systems
Authors
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. © 2013 EUCA.
Citation
- Journal: 2013 European Control Conference (ECC)
- Year: 2013
- Volume:
- Issue:
- Pages: 2098–2103
- Publisher: IEEE
- DOI: 10.23919/ecc.2013.6669288
BibTeX
@inproceedings{Macchelli_2013,
title={{Passivity-based control of implicit port-Hamiltonian systems}},
DOI={10.23919/ecc.2013.6669288},
booktitle={{2013 European Control Conference (ECC)}},
publisher={IEEE},
author={Macchelli, Alessandro},
year={2013},
pages={2098--2103}
}