Discrete port-Hamiltonian systems: mixed interconnections

V. Talasila, J. Clemente-Gallardo, Arjan van der Schaft

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    Abstract

    Either from a control theoretic viewpoint or from an analysis viewpoint it is necessary to convert smooth systems to discrete systems, which can then be implemented on computers for numerical simulations. Discrete models can be obtained either by discretizing a smooth model, or by directly modeling at the discrete level itself. The goal of this paper is to apply a previously developed discrete modeling technique to study the interconnection of continuous systems with discrete ones in such a way that passivity is preserved. Such a theory has potential applications, in the field of haptics, telemanipulation etc. It is shown that our discrete modeling theory can be used to formalize previously developed techniques for obtaining passive interconnections of continuous and discrete systems.
    Original languageUndefined
    Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference (CDC-ECC '05)
    Place of PublicationSeville
    PublisherIEEE/EUCA
    Pages5656-5661
    Number of pages6
    ISBN (Print)0-7803-9568-9
    DOIs
    Publication statusPublished - Dec 2005
    Event44th Conference on Decision and Control, and 2005 European Control Conference, CDC-ECC 2005 - Melia Seville, Seville, Spain
    Duration: 12 Dec 200515 Dec 2005
    Conference number: 44

    Publication series

    Name
    PublisherIEEE

    Conference

    Conference44th Conference on Decision and Control, and 2005 European Control Conference, CDC-ECC 2005
    Abbreviated titleCDC-ECC
    CountrySpain
    CitySeville
    Period12/12/0515/12/05

    Keywords

    • METIS-226729
    • EWI-16871
    • IR-69171

    Cite this

    Talasila, V., Clemente-Gallardo, J., & van der Schaft, A. (2005). Discrete port-Hamiltonian systems: mixed interconnections. In Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference (CDC-ECC '05) (pp. 5656-5661). [10.1109/CDC.2005.1583064] Seville: IEEE/EUCA. https://doi.org/10.1109/CDC.2005.1583064