Regulation and input disturbance suppression for port-controlled Hamiltonian systems

L. Gentili

Regulation and input disturbance suppression for port-controlled Hamiltonian systems

L. Gentili

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

17 Citations (Scopus)

4 Downloads (Pure)

Abstract

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.

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/Territory	Spain
City	Sevilla
Period	3/04/03 → 5/04/03

Keywords

EWI-16778
IR-69149
METIS-211645

Access to Document

http://eprints.eemcs.utwente.nl/secure2/16778/01/899c.Document.pdf

Cite this

@inproceedings{7f3c64c012f64782b69854032e38fd91,

title = "Regulation and input disturbance suppression for port-controlled Hamiltonian systems",

abstract = "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.",

keywords = "EWI-16778, IR-69149, METIS-211645",

author = "L. Gentili",

year = "2003",

language = "Undefined",

isbn = "978-0-08-044278-5",

series = "IFAC Proceedings Volumes",

publisher = "Elsevier",

pages = "205--210",

editor = "A. Astolfi and {van der Schaft}, Arjan and F. Gordillo",

booktitle = "Lagrangian and Hamiltonian Methods in Nonlinear Control 2003",

note = "2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNLC 2003 ; Conference date: 03-04-2003 Through 05-04-2003",

}

Gentili, L 2003, Regulation and input disturbance suppression for port-controlled Hamiltonian systems. in A Astolfi, A van der Schaft & F Gordillo (eds), 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. <http://eprints.eemcs.utwente.nl/secure2/16778/01/899c.Document.pdf>

Regulation and input disturbance suppression for port-controlled Hamiltonian systems. / Gentili, L.
Lagrangian and Hamiltonian Methods in Nonlinear Control 2003. ed. / A. Astolfi; Arjan van der Schaft; F. Gordillo. Sevilla: Elsevier, 2003. p. 205-210 (IFAC Proceedings Volumes).

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.

N1 - Conference code: 2

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

T2 - 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNLC 2003

Y2 - 3 April 2003 through 5 April 2003

ER -