Integral control of Port-Hamiltonian systems: nonpassive outputs without coordinate transformation

Title: Integral control of Port-Hamiltonian systems: nonpassive outputs without coordinate transformation
Creator: Ferguson, Joel; Donaire, Alejandro; Middleton, Richard H.
Relation: IEEE Transactions on Automatic Control Vol. 62, Issue 11, p. 5947-5953
Publisher Link: http://dx.doi.org/10.1109/TAC.2017.2700995
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2017
Description: In this paper we present a method for the addition of integral action to nonpassive outputs of a class of port-Hamiltonian (pH) systems. The proposed integral controller is a dynamic extension, constructed from the open-loop system, such that the closed loop preserves the pH form. It is shown that the controller is able to reject the effects of both matched and unmatched disturbances, preserving the regulation of the nonpassive outputs. Previous solutions to this problem have relied on a change of coordinates whereas the presented solution is developed using the original state vector and, therefore, retains its physical interpretation. In addition, the resulting closed-loop dynamics have a natural interpretation as a control by interconnection scheme.
Subject: integral control; Lyapunov methods; nonlinear control systems; Port-Hamiltonian systems
Identifier: http://hdl.handle.net/1959.13/1353168
Identifier: uon:31063
Identifier: ISSN:0018-9286
Language: eng
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