- Title
- Passive interconnection interpretation of PID control
- Creator
- Ferguson, Joel; Mahony, Robert
- Relation
- 12th IFAC Symposium on Nonlinear Control Systems NOLCOS 2022. Proceedings of the 12th IFAC Symposium on Nonlinear Control Systems NOLCOS 2022 [presented in IFAC-PapersOnLine, Vol. 56 No. 1] (Canberra, Australia 04-06 January, 2023) p. 193-198
- Publisher Link
- http://dx.doi.org/10.1016/j.ifacol.2023.02.033
- Publisher
- Elsevier
- Resource Type
- conference paper
- Date
- 2023
- Description
- In this paper the application of PID control to passive systems via passive interconnection is explored. The stability properties of PID control applied to linear systems is well understood, but the application to nonlinear system is more complex. In this work we exploit the passive structure of a PID controller by interconnecting with passive plants to ensure closed-loop stability. In many cases, however, the regulation output does not coincide with the passive output of the plant and the integral of the passive output is the regulation output of interest. Two methods for applying PID to the integral of the passive output via passive interconnection are introduced.
- Subject
- passivity-based control; output regulation; disturbance rejection; Lyapunov methods; Lagrangian; Hamiltonian systems
- Identifier
- http://hdl.handle.net/1959.13/1492463
- Identifier
- uon:53348
- Identifier
- ISSN:2405-8963
- Language
- eng
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