Transparent parametrization of nonlinear IDA-PBC for a hydraulic actuator

Paul Kotyczka, Guido Koch, Enrico Pellegrini, Boris Lohmann

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

4 Scopus citations


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.

Original languageEnglish
Title of host publication8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)9783902661807
StatePublished - 2010

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


  • Controller parametrization
  • Nonlinear control
  • Passivity based control


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