Authors

Luca Gentili, Arjan van der Schaft

Abstract

In this paper the output feedback regulation problem for port-controlled Hamiltonian systems (PCHS) is addressed. Following the nonlinear output regulation theory, the regulator which solves the problem is given by a parallel connection of two subcontrollers: an internal model unit and a regulator to stabilize the extended system composed by the plant and the internal model unit. The main idea is to use the PCHS theory in order to design that stabilizer controller: as in many cases the plant to be addressed is indeed a mechanical/electric system, and it is very easy to think about it as a PCHS, the paper shows the conditions to fulfill in order to design the internal model unit as a PCHS, allowing to use the powerful energy-shaping theory in order to stabilize the extended system. Moreover the same techniques are used to design an internal model based controller able to globally solve a problem of input disturbance suppression

Keywords

Hamiltonian systems; nonlinear output regulation; internal model; dumping injection; input disturbance suppression

Citation

  • Journal: IFAC Proceedings Volumes
  • Year: 2003
  • Volume: 36
  • Issue: 2
  • Pages: 205–210
  • Publisher: Elsevier BV
  • DOI: 10.1016/s1474-6670(17)38892-4
  • Note: 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control 2003, Seville, Spain, 3-5 April 2003

BibTeX

@article{Gentili_2003,
  title={{Regulation and Input Disturbance Suppression for Port-Controlled Hamiltonian Systems 1}},
  volume={36},
  ISSN={1474-6670},
  DOI={10.1016/s1474-6670(17)38892-4},
  number={2},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Gentili, Luca and van der Schaft, Arjan},
  year={2003},
  pages={205--210}
}

Download the bib file

References

  • Byrnes, C. I., Priscoli, F. D., Isidori, A. & Kang, W. Structurally stable output regulation of nonlinear systems. Automatica 33, 369–385 (1997) – 10.1016/s0005-1098(96)00184-7
  • Byrnes, (1997)
  • Huang, Remarks on the robust output regulation problem for nonlinear systems. IEEE Transaction on Automatic Control (2001)
  • Maschke, Port-controlled hamiltonian system: modelling origins and system theoretic approach. Proc. 2nd IFAC NOLCOS (1992)
  • Ortega, Stabilization of port-controlled hamiltonian systems: Passivation and energy balancing (1999)
  • van der Schaft, (1999)