Robust Port-Hamiltonian Output-Tracking Control of Cascaded Systems

Authors

Ian J. Willebeek-LeMair, Craig A. Woolsey

Abstract

This paper addresses the robust output-tracking problem for a class of cascaded nonlinear systems subject to matched and unmatched time-varying disturbances. The proposed control synthesis technique operates by transforming the cascaded open-loop system into a port-Hamiltonian closed-loop system via feedback and a change of coordinates. The closed-loop port-Hamiltonian structure is physically interpretable. To add robustness, sufficient conditions for input-to-state stability of the closed-loop system with respect to the disturbances are identified. The method is illustrated in an example.

Citation

• Journal: 2025 IEEE 64th Conference on Decision and Control (CDC)
• Year: 2025
• Volume:
• Issue:
• Pages: 1747–1754
• Publisher: IEEE
• DOI: 10.1109/cdc57313.2025.11312051

BibTeX

@inproceedings{Willebeek_LeMair_2025,
  title={{Robust Port-Hamiltonian Output-Tracking Control of Cascaded Systems}},
  DOI={10.1109/cdc57313.2025.11312051},
  booktitle={{2025 IEEE 64th Conference on Decision and Control (CDC)}},
  publisher={IEEE},
  author={Willebeek-LeMair, Ian J. and Woolsey, Craig A.},
  year={2025},
  pages={1747--1754}
}

Download the bib file

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