This paper is concerned with the exponential stabilisation of a class of linear boundary control systems (BCS) in port-Hamiltonian form through energy-shaping. Starting from a first feedback loop that is in charge of modifying the Hamiltonian function of the plant, a second control loop that guarantees exponential convergence to the equilibrium is designed. In this way, a major limitation of standard energy-shaping plus damping injection control laws applied to linear port-Hamiltonian BCS, namely the fact that only asymptotic convergence is assured, has been removed.
Exponential Stabilisation of Port-Hamiltonian Boundary Control Systems via Energy-Shaping
Macchelli, Alessandro
Membro del Collaboration Group
;
2020
Abstract
This paper is concerned with the exponential stabilisation of a class of linear boundary control systems (BCS) in port-Hamiltonian form through energy-shaping. Starting from a first feedback loop that is in charge of modifying the Hamiltonian function of the plant, a second control loop that guarantees exponential convergence to the equilibrium is designed. In this way, a major limitation of standard energy-shaping plus damping injection control laws applied to linear port-Hamiltonian BCS, namely the fact that only asymptotic convergence is assured, has been removed.File in questo prodotto:
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