2023
DOI: 10.1002/pamm.202300296
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Stage‐cost design for optimal and model predictive control of linear port‐Hamiltonian systems: Energy efficiency and robustness

Gökçen Devlet Şen,
Manuel Schaller,
Karl Worthmann

Abstract: We consider singular optimal control of port‐Hamiltonian systems with minimal energy supply. We investigate the robustness of different stage‐cost designs w.r.t. time discretization and show that alternative formulations that are equivalent in continuous time, differ strongly in view of discretization. Furthermore, we consider the impact of additional quadratic control regularization and demonstrate that this leads to a considerable increase in energy consumption. Then, we extend our results to the tracking pr… Show more

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