PID passivity-based control of port-Hamiltonian systems

M. Zhang L. P. Borja Rosales R. Ortega 1 Z. Liu H. Su
1 L2S - Laboratoire des signaux et systèmes
Abstract : In this note, we address the problem of stabilization of port-Hamiltonian systems via the ubiquitous proportional-integral-derivative (PID) controller. The design is based on passivity theory, hence the first step is to identify all passive outputs of the system, which is the first contribution of the paper. Adding a PID around this signal ensures that the closed-loop system is L2-stable for all positive PID gains. Global stability (and/or global attractivity) of a desired constant equilibrium is also guaranteed for a new class of systems for which a Lyapunov function can be constructed. A second contribution is to prove that this class-that is identified via some easily verifiable integrability conditions-is strictly larger than the ones previously reported in the literature. Comparisons of the proposed PID controller with control-by-interconnection passivity-based control are also discussed.
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Journal articles
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https://hal-centralesupelec.archives-ouvertes.fr/hal-01817771
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Submitted on : Monday, June 18, 2018 - 1:15:28 PM
Last modification on : Tuesday, May 7, 2019 - 3:07:45 PM

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CENTRALESUPELEC | SUP_LSS | SUP_SYSTEMES | TDS-MACS | L2S | UNIV-PARIS-SACLAY

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M. Zhang, L. P. Borja Rosales, R. Ortega, Z. Liu, H. Su. PID passivity-based control of port-Hamiltonian systems. IRE Transactions on Automatic Control / Institute of Radio Engineers Transactions on Automatic Control, Institute of Electrical and Electronics Engineers (IEEE), 2018, 63 (4), pp.1032-1044. ⟨10.1109/TAC.2017.2732283⟩. ⟨hal-01817771⟩

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