A constructive procedure for energy shaping of port—Hamiltonian systems

Borja, Pablo; Cisneros, Rafael; Ortega, Roméo

doi:10.1016/j.automatica.2016.05.028

Cited by 32 publications

(36 citation statements)

References 11 publications

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“…Actually it is possible to show that this condition can be transferred to the control u. 5 Now, since u defined in (2) contains an additive term that is PE, the condition that u is PE will almost always be satisfied.…”

Section: R11mentioning

confidence: 99%

“…where γ > 0 is a tuning gain, S is given in (5), Y in (18), and D d , Z 2d are defined in (16) and (14), respectively, with d = ε. Then,…”

Section: Drem-based Virtual Output Estimatormentioning

confidence: 99%

“…However, the order of such a design is higher than that of the KKL observer. Moreover, as shown in Subsection 5.2.3 it was observed in simulations that the KKL observer outperforms the Luenberger one and is easier to tune.5.2.3 SimulationsIn this subsection, the performance of the observer (43) for the MagLev system, together with the estimator for5 The details of this proof are omitted for brevity.…”

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confidence: 90%

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On generation of virtual outputs via signal injection: Application to observer design for electromechanical systems

Siguerdidjane

Machado

Zhang

2020

European Journal of Control

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Probing signal injection is a well-established technique to extract additional information from a weakly (or non) observable dynamical system. Using averaging theory, a framework to analyse such schemes for general nonlinear systems has been recently proposed in [9], where it is shown that the signal injection may be used to generate a new high frequency output that can be used for state observation or controller design. A key step for the success of this technique is the implementation of a filter to reconstruct this virtual output from the measurement of the overall systems output. The main contribution of this paper is to propose a new filter with guaranteed convergence properties that outperforms the classical designs. The method is applied to a general class of electromechanical systems, and its performance is assessed via simulations and experiments of the 1-DOF magnetic levitation system.

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Section: R11mentioning

confidence: 99%

“…where γ > 0 is a tuning gain, S is given in (5), Y in (18), and D d , Z 2d are defined in (16) and (14), respectively, with d = ε. Then,…”

Section: Drem-based Virtual Output Estimatormentioning

confidence: 99%

mentioning

confidence: 90%

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On generation of virtual outputs via signal injection: Application to observer design for electromechanical systems

Siguerdidjane

Machado

Zhang

2020

European Journal of Control

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“…Nevertheless, both approaches result in a more elaborated controller design and in a relatively large number of parameters. Recently, an alternative energy-shaping design that obviates the solution of PDE while maintaining a more intuitive structure akin to a PID was proposed in [22][23][24] and applied to a flexible inverted-pendulum in [25], although external disturbances were disregarded for simplicity. While recent works proposed robustness enhancement strategies for energy-shaping control [26][27][28], most research has been focusing on matched disturbances (i.e.…”

Section: Introductionmentioning

confidence: 99%

Robust balancing control of flexible inverted-pendulum systems

Franco

Astolfi

Baena

2018

Mechanism and Machine Theory

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This work studies the balancing control problem for flexible inverted-pendulum systems and investigates the relationship between system parameters and robustness to disturbances. To this end, a new energy-shaping controller with adaptive disturbance-compensation for a class of underactuated mechanical systems is presented. Additionally, a method for the identification of key system parameters that affect the robustness of the closed-loop system is outlined. The proposed approach is applied to the flexible pendulum-on-cart system and a simulation study is conducted to demonstrate its effectiveness. Finally, the control problem for a classical pendulum-on-cart system with elastic joint is discussed to highlight the similarities with its flexible-link counterpart.

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“…In the context of energy shaping, the difficulty in solving PDE's is obviated by relaxing the structure preserving constraint and the energy shaping is obtained by using passive outputs of the system Gogte et al (2012); Satpute et al (2014); Donaire et al (2016a). Recently, a similar idea is pursued for systems in port-Hamiltonian form Borja et al (2016). Here, we relax the structure preserving constraint and present a procedure of finding P d using the power balancing outputs of the system.…”

Section: Brayton-moser Formmentioning

confidence: 99%

Modeling and control of complex building energy systems

Chinde

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A constructive procedure for energy shaping of port—Hamiltonian systems

Cited by 32 publications

References 11 publications

On generation of virtual outputs via signal injection: Application to observer design for electromechanical systems

On generation of virtual outputs via signal injection: Application to observer design for electromechanical systems

Robust balancing control of flexible inverted-pendulum systems

Modeling and control of complex building energy systems

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