@inproceedings{9abeab174be24f71b97952207e709260,
title = "Transparent parametrization of nonlinear IDA-PBC for a hydraulic actuator",
abstract = "In this contribution the application of local linear dynamics assignment for the parametrization of nonlinear passivity based setpoint-control of a double-acting hydraulic cylinder is presented. The focus is on the systematic derivation of the stabilizing nonlinear state feedback control law using Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) such that desired predefined local linear dynamics of the closed loop system is realized exploiting the maximum initial design freedom provided by constant interconnection and dissipation matrices. The paper provides a step-by-step approach to find the IDA-PBC controller for the hydraulic system applying a series of simple algebraic manipulations and is complemented by experimental results on a hydraulic actuator as a part of a quarter-car testrig.",
keywords = "Controller parametrization, Nonlinear control, Passivity based control",
author = "Paul Kotyczka and Guido Koch and Enrico Pellegrini and Boris Lohmann",
year = "2010",
doi = "10.3182/20100901-3-IT-2016.00175",
language = "English",
isbn = "9783902661807",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "14",
pages = "1122--1127",
booktitle = "8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010",
edition = "14",
}