Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems

Chan Zheng, C., Borja Rosales, P. & Scherpen, J. M. A., 2020, p. extended abstract.

Research output: Contribution to conferenceAbstractAcademic

In this extended abstract, we propose a tuning approach for nonlinear mechanical systems to modify the behavior of the closed-loop system, where we are particularly interested in attenuating oscillations from the transient response. Towards this end, we inject damping into the system, and we provide two tuning methods to select the gains that are appropriate for our purposes. Furthermore, we apply these tuning rules to a 2DoF planar manipulator and present its simulation results.
Original languageEnglish
Pagesextended abstract
Publication statusPublished - 2020
Event21st IFAC World Congress - Berlin, Germany
Duration: 12-Jul-202017-Jul-2020


Conference21st IFAC World Congress
Internet address


21st IFAC World Congress


Berlin, Germany

Event: Conference

ID: 127080258