A constructive approach for the parametrization of interconnection and damping assignment passivity based control

Paul Kotyczka, Boris Lohmann

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

When a port-Hamiltonian system is a result of state feedback control, as it is the case for Interconnection and Damping Assignment Passivity Based Control (IDA-PBC), the intuitive choice of the design parameters in the interconnection and damping matrices is often impeded by a complicated energy function. In our contribution we present a systematic approach to fix constant parameters of the design matrices of IDA-PBC, such that the closed loop system behaves like a linear sample system in the environment of the assigned equilibrium, while (nonlinear) asymptotic stability is guaranteed with the standard IDA-PBC arguments. As a further result we give conditions under which a simplified, e.g. linearized control law can be applied, preserving stability of the closed loop nonlinear system.

Original languageEnglish
Title of host publication2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08
Pages964-969
Number of pages6
DOIs
StatePublished - 2008
Event2008 Mediterranean Conference on Control and Automation, MED'08 - Ajaccio-Corsica, France
Duration: 25 Jun 200827 Jun 2008

Publication series

Name2008 Mediterranean Conference on Control and Automation - Conference Proceedings, MED'08

Conference

Conference2008 Mediterranean Conference on Control and Automation, MED'08
Country/TerritoryFrance
CityAjaccio-Corsica
Period25/06/0827/06/08

Keywords

  • Control parametrization
  • Nonlinear control
  • Passivity based control
  • Port-hamiltonian systems

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