In this section
@article{Nunna:2015:10.1109/TAC.2015.2400663,
author = {Nunna, K and Sassano, M and Astolfi, A},
doi = {10.1109/TAC.2015.2400663},
journal = {IEEE Transactions on Automatic Control},
pages = {2350--2361},
title = {Constructive interconnection and damping assignment for port-controlled Hamiltonian systems},
url = {http://dx.doi.org/10.1109/TAC.2015.2400663},
volume = {60},
year = {2015}
}
TY - JOUR
AB - The Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) problem for port-controlled Hamiltonian systems is revisited. We propose a methodology that exploits the novel notion of algebraic solution of the so-called matching equation. This notion is instrumental for the construction of an energy function, defined on an extended state-space, which does not rely upon the solution of any partial differential equation. This yields, differently from the classical solution, a dynamic state feedback that stabilizes a desired equilibrium point. In addition, conditions that allow to preserve the port-controlled Hamiltonian structure in the extended closed-loop system are provided. The theory is validated on two physical systems: the magnetic levitated ball and a third order food-chain system. A dynamic control law is constructed for both these systems by assigning a damping factor that cannot be assigned by the classical IDA-PBC.
AU - Nunna,K
AU - Sassano,M
AU - Astolfi,A
DO - 10.1109/TAC.2015.2400663
EP - 2361
PY - 2015///
SN - 0018-9286
SP - 2350
TI - Constructive interconnection and damping assignment for port-controlled Hamiltonian systems
T2 - IEEE Transactions on Automatic Control
UR - http://dx.doi.org/10.1109/TAC.2015.2400663
UR - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000360501800005&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR - https://ieeexplore.ieee.org/document/7036085
UR - http://hdl.handle.net/10044/1/43805
VL - 60
ER -