NDLI: Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems

Content Provider	IEEE Xplore Digital Library
Author	Ortega, R. van der Schaft, A. Castanos, F. Astolfi, A. Astolfi, A.
Copyright Year	1963
Abstract	The dynamics of many physical processes can be suitably described by Port-Hamiltonian (PH) models, where the importance of the energy function, the interconnection pattern and the dissipation of the system is underscored. To regulate the behavior of PH systems it is natural to adopt a Passivity-Based Control (PBC) perspective, where the control objectives are achieved shaping the energy function and adding dissipation. In this paper we consider the PBC techniques of Control by Interconnection (CbI) and Standard PBC. In CbI the controller is another PH system connected to the plant (through a power-preserving interconnection) to add up their energy functions, while in Standard PBC energy shaping is achieved via static state feedback. In spite of the conceptual appeal of formulating the control problem as the interaction of dynamical systems, the current version of CbI imposes a severe restriction on the plant dissipation structure that stymies its practical application. On the other hand, Standard PBC, which is usually derived from a uninspiring and non-intuitive ldquopassive output generationrdquo viewpoint, is one of the most successful controller design techniques. The main objectives of this paper are: (1) To extend the CbI method to make it more widely applicable-in particular, to overcome the aforementioned dissipation obstacle. (2) To show that various popular variants of Standard PBC can be derived proceeding from a unified perspective. (3) To establish the connections between CbI and Standard PBC proving that the latter is obtained restricting the former to a suitable subset-providing a nice geometric interpretation to Standard PBC-and comparing the size of the set of PH plants for which they are applicable.
Sponsorship	IEEE Control Systems Society
Starting Page	2527
Ending Page	2542
Page Count	16
File Size	705990
File Format	PDF
ISSN	00189286
Volume Number	53
Issue Number	11
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-12-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Shape control Control system synthesis Power system interconnection State feedback Nonlinear systems Nonlinear control systems Mathematics Nonlinear dynamical systems Design methodology stabilization Hamiltonian systems interconnection nonlinear systems passivity passivity-based control (PBC)
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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