Port-controlled Hamiltonian systems: modelling origins and systemtheoretic properties

B.M. Maschke, A.J. van der Schaft

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    Abstract

    It is shown that the network representation (as obtained through the generalized bond graph formalism) of non-resistive physical systems in interaction with their environment leads to a well- defined class of (nonlinear) control systems, called port-controlled Hamiltonian systems.

    A first basic feature of these systems is that their internal dynamics is Hamiltonian with respect to a Poisson structure determined by the topology of the network and to a Hamiltonian given by the stored energy. Secondly the network representation provides automatically (intrinsically to the notation) to every port-control variable (input) a port-conjugated variable as output. This definition of port-conjugated input and output variables, based on energy considerations, is shown to have important consequences for the observability and controllability properties, as well as the external characterization of port- controlled Hamiltonian systems.
    Original languageEnglish
    Pages (from-to)282-288
    JournalIFAC proceedings volumes
    Volume25
    Issue number13
    DOIs
    Publication statusPublished - 24 Jun 1992
    Event2nd IFAC Nonlinear Control Systems Design Symposium, NOLCOS 1992 - Bordeaux, France
    Duration: 24 Jun 199226 Jun 1992
    Conference number: 2

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