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PID Passivity-Based Control o Port-Hamiltonian Systems

Zhang, M., Borja Rosales, L. P., Ortega, R., Liu, Z. & Su, H., Apr-2018, In : IEEE Transactions on Automatic Control. 63, 4, p. 1032-1044 13 p.

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  • PID Passivity-Based Control of Port-HamiltonianSystems

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In this note, we address the problem of stabilization of port-Hamiltonian systems via the ubiquitous proportional-integral-derivative (PID) controller. The design is based on passivity theory, hence the first step is to identify all passive outputs of the system, which is the first contribution of the paper. Adding a PID around this signal ensures that the closed-loop system is G,,-stable for all positive PID gains. Global stability (and/or global attractivity) of a desired constant equilibrium is also guaranteed for a new class of systems for which a Lyapunov function can be constructed. A second contribution is to prove that this class-that is identified via some easily verifiable integrability conditions-is strictly larger than the ones previously reported in the literature. Comparisons of the proposed PID controller with control-by-interconnection passivity-based control are also discussed.

Original languageEnglish
Pages (from-to)1032-1044
Number of pages13
JournalIEEE Transactions on Automatic Control
Volume63
Issue number4
Publication statusPublished - Apr-2018

    Keywords

  • Hamiltonian systems, nonlinear systems, passivity, passivity-based control (PBC), stabilization, NONLINEAR RLC CIRCUITS, MECHANICAL SYSTEMS, INTERCONNECTION, ENERGY, STABILIZATION, DISSIPATION, TRACKING

ID: 77515819