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Shaping the energy of port-Hamiltonian systems without solving PDE's

Abstract : Equilibrium stabilisation of nonlinear systems via energy shaping is a well-established, robust, passivity-based controller design technique. Unfortunately, its application is often stymied by the need to solve partial differential equations. In this paper a new, fully constructive, procedure to shape the energy for a class of port-Hamiltonian systems that obviates the solution of partial differential equations is proposed. Proceeding from the well-known passive, power shaping output we propose a nonlinear static state-feedback that preserves passivity of this output but with a new storage function. This function contains some tuning gains used to ensure it is positive definite, hence a suitable Lyapunov function for the closed-loop. Connections with other standard passivity-based controllers are indicated and it is shown that the new controller design is applicable to two benchmark examples.
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https://hal-centralesupelec.archives-ouvertes.fr/hal-01262402
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Submitted on : Tuesday, June 21, 2022 - 3:47:15 PM
Last modification on : Friday, June 24, 2022 - 3:34:20 AM

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Luis Pablo Borja Rosales, Rafael Cisneros, Roméo Ortega. Shaping the energy of port-Hamiltonian systems without solving PDE's. 54th IEEE Conference on Decision and Control (CDC 2015), Dec 2015, Osaka, Japan. ⟨10.1109/cdc.2015.7403116⟩. ⟨hal-01262402⟩

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