This letter presents a regulator for nonlinear, discrete-time port-Hamiltonian systems that lets the state track a reference signal. Similarly to continuous-time approaches, the synthesis is based on the mapping via state-feedback of the open-loop error system to a target one in port-Hamiltonian form, and with an asymptotically stable origin that corresponds to the perfect tracking condition. The procedure is formally described by a matching equation that, in continuous-time, turns out to be a nonlinear partial differential equation (PDE). This is not the case for sampled-data systems, so an algebraic approach is proposed. The solution is employed to construct a dynamical regulator that performs an “approximated” mapping. The stability analysis relies on Lyapunov arguments.

Trajectory Tracking for Discrete-Time Port-Hamiltonian Systems / Macchelli, Alessandro. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - ELETTRONICO. - 6:(2022), pp. 9795669.3146-9795669.3151. [10.1109/LCSYS.2022.3182845]

Trajectory Tracking for Discrete-Time Port-Hamiltonian Systems

Macchelli, Alessandro
2022

Abstract

This letter presents a regulator for nonlinear, discrete-time port-Hamiltonian systems that lets the state track a reference signal. Similarly to continuous-time approaches, the synthesis is based on the mapping via state-feedback of the open-loop error system to a target one in port-Hamiltonian form, and with an asymptotically stable origin that corresponds to the perfect tracking condition. The procedure is formally described by a matching equation that, in continuous-time, turns out to be a nonlinear partial differential equation (PDE). This is not the case for sampled-data systems, so an algebraic approach is proposed. The solution is employed to construct a dynamical regulator that performs an “approximated” mapping. The stability analysis relies on Lyapunov arguments.
2022
Trajectory Tracking for Discrete-Time Port-Hamiltonian Systems / Macchelli, Alessandro. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - ELETTRONICO. - 6:(2022), pp. 9795669.3146-9795669.3151. [10.1109/LCSYS.2022.3182845]
Macchelli, Alessandro
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/889693
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