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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.Research output: Contribution to journal › Article › Academic › peer-review
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PID Passivity-Based Control o Port-Hamiltonian Systems. / Zhang, Meng; Borja Rosales, Luis Pablo; Ortega, Romeo; Liu, Zhitao; Su, Hongye.
In: IEEE Transactions on Automatic Control, Vol. 63, No. 4, 04.2018, p. 1032-1044.Research output: Contribution to journal › Article › Academic › peer-review
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TY - JOUR
T1 - PID Passivity-Based Control o Port-Hamiltonian Systems
AU - Zhang, Meng
AU - Borja Rosales, Luis Pablo
AU - Ortega, Romeo
AU - Liu, Zhitao
AU - Su, Hongye
PY - 2018/4
Y1 - 2018/4
N2 - 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.
AB - 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.
KW - Hamiltonian systems
KW - nonlinear systems
KW - passivity
KW - passivity-based control (PBC)
KW - stabilization
KW - NONLINEAR RLC CIRCUITS
KW - MECHANICAL SYSTEMS
KW - INTERCONNECTION
KW - ENERGY
KW - STABILIZATION
KW - DISSIPATION
KW - TRACKING
U2 - 10.1109/TAC.2017.2732283
DO - 10.1109/TAC.2017.2732283
M3 - Article
VL - 63
SP - 1032
EP - 1044
JO - IEEE-Transactions on Automatic Control
JF - IEEE-Transactions on Automatic Control
SN - 0018-9286
IS - 4
ER -
ID: 77515819