@inbook{bc1915236e804ccda365b4a2dcd32ebc,

title = "Port-Hamiltonian systems: network modeling and control of nonlinear physical systems",

abstract = "It is shown how port-based modeling of lumped-parameter complex physical systems (multi-body systems, electrical circuits, electromechanical systems,..) naturally leads to a geometrically defined class of systems, called port-Hamiltonian systems. These are Hamiltonian systems defined with respect to a power-conserving geometric structure capturing the basic interconnection laws, and a Hamiltonian function given by the total stored energy. The structural properties of port-Hamiltonian systems are discussed, in particular the existence of Casimir functions and its implications for stability and stabilization. Furthermore it is shown how passivity-based control results from interconnecting the plant port-Hamiltonian system with a controller port-Hamiltonian system, leading to a closed-loop port-Hamiltonian system. Finally, extensions to the distributed-parameter case are provided by formulating boundary control systems as infinite-dimensional port-Hamiltonian systems.",

keywords = "METIS-223799, Hamiltonian System, Multibody System, Kinematic Constraint, Dirac Structure, Bond Graph",

author = "{van der Schaft}, A.J.",

year = "2004",

doi = "10.1007/978-3-7091-2774-2_9",

language = "English",

isbn = "978-3-211-22867-8",

series = "CISM Courses and Lectures",

publisher = "Springer",

pages = "127--168",

editor = "Hans Irshik and Kurt Schlacher",

booktitle = "Advanced Dynamics and Control of Structures and Machines",

address = "Netherlands",

}