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dc.contributor.authorBatlle Arnau, Carles
dc.contributor.authorDòria Cerezo, Arnau
dc.contributor.authorFossas Colet, Enric
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2006-09-18T12:38:38Z
dc.date.available2006-09-18T12:38:38Z
dc.date.issued2006-09
dc.identifier.urihttp://hdl.handle.net/2117/482
dc.description.abstractWe 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
dc.format.extent14
dc.language.isoeng
dc.relation.ispartofseriesIOC-DT-P
dc.relation.ispartofseries2006-25
dc.rightsAttribution-NonCommercial-NoDerivs 2.5 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshRobust control
dc.subject.otherSistemes hamiltonians
dc.subject.otherControl basat en passivitat
dc.subject.otherControl robust
dc.subject.otherPort Hamiltonian systems
dc.subject.otherPassivity-based control
dc.subject.otherRobust control
dc.subject.otherSistemas hamiltonianos
dc.subject.otherContro basado en pasividad
dc.subject.otherRobust control
dc.subject.otherIDA-PBC
dc.titleRobust Hamiltonian passive control for higher relative degree outpus
dc.typeExternal research report
dc.subject.lemacControl robust
dc.contributor.groupUniversitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
dc.rights.accessOpen Access
dc.relation.projectidcttGEOPLEX
local.personalitzacitaciotrue


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