By exploiting the properties of the geometric structure of a port-Hamiltonian system, a general methodology for the definition of a new control port that allows to solve the so-called dissipation obstacle within the control by interconnection framework is discussed. This approach can be applied to a large class of port-Hamiltonian systems, both in the lumped, and in the distributed parameter cases. It is also shown how the limitations of the control by interconnection and energy-shaping via Casimir generation can be removed by interconnecting the controller to a different control port, i.e. how it is possible to compute a new passive output that is instrumental for removing the intrinsic constraints imposed by the dissipative structure of the system.
Macchelli, A. (2015). Control by interconnection beyond the dissipation obstacle of finite and infinite dimensional port-Hamiltonian systems. Institute of Electrical and Electronics Engineers Inc. [10.1109/CDC.2015.7402582].
Control by interconnection beyond the dissipation obstacle of finite and infinite dimensional port-Hamiltonian systems
MACCHELLI, ALESSANDRO
2015
Abstract
By exploiting the properties of the geometric structure of a port-Hamiltonian system, a general methodology for the definition of a new control port that allows to solve the so-called dissipation obstacle within the control by interconnection framework is discussed. This approach can be applied to a large class of port-Hamiltonian systems, both in the lumped, and in the distributed parameter cases. It is also shown how the limitations of the control by interconnection and energy-shaping via Casimir generation can be removed by interconnecting the controller to a different control port, i.e. how it is possible to compute a new passive output that is instrumental for removing the intrinsic constraints imposed by the dissipative structure of the system.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
