Robust Hamiltonian passive control for higher relative degree outpus
Document typeExternal research report
Rights accessOpen Access
We present an improvement of the well-know Interconnection and Damping Assignment-Passivity-based Control (IDA-PBC) technique. The IDA-PBC method is based on the Port –controlled Hamiltonian Systems description and requires the knowledge of the full energy (or Hamiltonian) function. This is a problem because, in general, the equilibrium point which is to be regulated depends on uncertain parameters. In this paper, we show how select the target port-Hamiltonian structure so that this dependence is reduced. This new approach allows to improve the robustness for higher relative degree outputs, and, for illustration purposes, is applied to a simple academic nonlinear system
Is part ofIOC-DT-P; 2006-25
Aquest ítem (excepte textos i imatges no creats per l'autor) està subjecte a una llicència de Creative Commons: Attribution-NonCommercial-NoDerivs 2.5 Spain
Showing items related by title, author, creator and subject.
Acho Zuppa, Leonardo; Vidal Seguí, Yolanda; Pozo Montero, Francesc (Universidad Nacional de Educación a Distancia (UNED), 2009)
Open AccessA robust controller with chattering is proposed for variable speed control of a two-bladed horizontal axis wind turbine similar to the DOE MOD-0 model. The chattering term provides robustness against un-modeled non-linearities. ...
Robust control of an electronic throttle system via switched chattering control: benchmark experiments Vidal Seguí, Yolanda; Acho Zuppa, Leonardo; Pozo Montero, Francesc (2009)
Open AccessA robust controller with chattering is proposed based on a simplified model of an electronic throttle system. The chattering term provides robustness against un-modeled nonlinearities, e.g., limphome nonlinearity, parameter ...
Luzar, Marcel; Witczak, Marcin; Buciakowski, Mariusz; Puig Cayuela, Vicenç (2013)
Restricted access - publisher's policyThe paper deals with the problem of robust faulttolerant control (FTC) for non-linear systems. Main part of this paper describes a robust fault detection, isolation and identification scheme, which is based on the observer ...