Parametrierung von IDA-PBC über zuweisung lokal linearer dynamik

This contribution deals with the parametrization of nonlinear state feedback control by Interconnection and Damping Assignment Passivity Based Control (IDA-PBC). The Port Hamiltonian (PH) structure of the controlled system is physically motivated and incorporates the idea of storage, exchange and dissipation of energy. However, in general the effect of the design parameters in the interconnection and damping matrices and the closed loop energy on the time behavior is intransparent. Considering the linearization of the nonlinear closed loop systemwith respect to the design parameters is a systematic possibility to include at least locally desired time behavior in the design procedure.