This letter deals with interconnection and damping assignment for discrete-time port-Hamiltonian systems. Based on a novel state representation, suitably shaped to address energy-based control design, the nonlinear discrete-time controller is characterized and the solution is explicitly computed in the linear case. The design worked out on the exact sampled-data model of a mechanical system confirms the effectiveness of the controller.
Stabilization of discrete port-hamiltonian dynamics via interconnection and damping assignment / Moreschini, Alessio; Mattioni, Mattia; Monaco, Salvatore; Normand-Cyrot, Dorothee. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 5:1(2021), pp. 103-108. [10.1109/LCSYS.2020.3000705]
Stabilization of discrete port-hamiltonian dynamics via interconnection and damping assignment
Moreschini, Alessio;Mattioni, Mattia
;Monaco, Salvatore
;Normand-Cyrot, Dorothee
2021
Abstract
This letter deals with interconnection and damping assignment for discrete-time port-Hamiltonian systems. Based on a novel state representation, suitably shaped to address energy-based control design, the nonlinear discrete-time controller is characterized and the solution is explicitly computed in the linear case. The design worked out on the exact sampled-data model of a mechanical system confirms the effectiveness of the controller.| File | Dimensione | Formato | |
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