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Robust Hamiltonian passive control for higher relative degree outpus
dc.contributor.author | Batlle Arnau, Carles |
dc.contributor.author | Dòria Cerezo, Arnau |
dc.contributor.author | Fossas Colet, Enric |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2006-09-18T12:38:38Z |
dc.date.available | 2006-09-18T12:38:38Z |
dc.date.issued | 2006-09 |
dc.identifier.uri | http://hdl.handle.net/2117/482 |
dc.description.abstract | 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 |
dc.format.extent | 14 |
dc.language.iso | eng |
dc.relation.ispartofseries | IOC-DT-P |
dc.relation.ispartofseries | 2006-25 |
dc.rights | Attribution-NonCommercial-NoDerivs 2.5 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/2.5/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Robust control |
dc.subject.other | Sistemes hamiltonians |
dc.subject.other | Control basat en passivitat |
dc.subject.other | Control robust |
dc.subject.other | Port Hamiltonian systems |
dc.subject.other | Passivity-based control |
dc.subject.other | Robust control |
dc.subject.other | Sistemas hamiltonianos |
dc.subject.other | Contro basado en pasividad |
dc.subject.other | Robust control |
dc.subject.other | IDA-PBC |
dc.title | Robust Hamiltonian passive control for higher relative degree outpus |
dc.type | External research report |
dc.subject.lemac | Control robust |
dc.contributor.group | Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia |
dc.rights.access | Open Access |
dc.relation.projectidctt | GEOPLEX |
local.personalitzacitacio | true |
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