### Abstract

Original language | Undefined |
---|---|

Title of host publication | Lagrangian and Hamiltonian Methods in Nonlinear Control 2003 |

Editors | A. Astolfi, Arjan van der Schaft, F. Gordillo |

Place of Publication | Sevilla |

Publisher | Elsevier |

Pages | 205-210 |

Number of pages | 6 |

ISBN (Print) | 978-0-08-044278-5 |

Publication status | Published - 2003 |

Event | 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNLC 2003 - Sevilla, Spain Duration: 3 Apr 2003 → 5 Apr 2003 Conference number: 2 |

### Publication series

Name | IFAC Proceedings Volumes |
---|---|

Publisher | Elsevier |

### Conference

Conference | 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNLC 2003 |
---|---|

Abbreviated title | LHMNLC |

Country | Spain |

City | Sevilla |

Period | 3/04/03 → 5/04/03 |

### Keywords

- EWI-16778
- IR-69149
- METIS-211645

### Cite this

*Lagrangian and Hamiltonian Methods in Nonlinear Control 2003*(pp. 205-210). (IFAC Proceedings Volumes). Sevilla: Elsevier.

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*Lagrangian and Hamiltonian Methods in Nonlinear Control 2003.*IFAC Proceedings Volumes, Elsevier, Sevilla, pp. 205-210, 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNLC 2003, Sevilla, Spain, 3/04/03.

**Regulation and input disturbance suppression for port-controlled Hamiltonian systems.** / Gentili, L.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Regulation and input disturbance suppression for port-controlled Hamiltonian systems

AU - Gentili, L.

PY - 2003

Y1 - 2003

N2 - In this paper the output feedback regulation problem for port-controlled Hamiltonian systems (PCHS) is addressed. Following the nonlinear output regulation theory, the regulator which solves the problem is given by a parallel connection of two subcontrollers: an internal model unit and a regulator to stabilize the extended system composed by the plant and the internal model unit. The main idea is to use the PCHS theory in order to design that stabilizer controller: as inmany cases the plant to be addressed is indeed a mechanical/electric system, and it is very easy to think about it as a PCHS, the paper shows the conditions to fulfill in order to design the internal model unit as a PCHS, allowing to use the powerful energy-shaping theory in order to stabilize the extended system. Moreover the same techniques are used to design an internal model based controller able to globally solve a problem of input disturbance suppression.

AB - In this paper the output feedback regulation problem for port-controlled Hamiltonian systems (PCHS) is addressed. Following the nonlinear output regulation theory, the regulator which solves the problem is given by a parallel connection of two subcontrollers: an internal model unit and a regulator to stabilize the extended system composed by the plant and the internal model unit. The main idea is to use the PCHS theory in order to design that stabilizer controller: as inmany cases the plant to be addressed is indeed a mechanical/electric system, and it is very easy to think about it as a PCHS, the paper shows the conditions to fulfill in order to design the internal model unit as a PCHS, allowing to use the powerful energy-shaping theory in order to stabilize the extended system. Moreover the same techniques are used to design an internal model based controller able to globally solve a problem of input disturbance suppression.

KW - EWI-16778

KW - IR-69149

KW - METIS-211645

M3 - Conference contribution

SN - 978-0-08-044278-5

T3 - IFAC Proceedings Volumes

SP - 205

EP - 210

BT - Lagrangian and Hamiltonian Methods in Nonlinear Control 2003

A2 - Astolfi, A.

A2 - van der Schaft, Arjan

A2 - Gordillo, F.

PB - Elsevier

CY - Sevilla

ER -