Control via interconnection and damping assignment of linear time-invariant systems: a tutorial

DOI10.1080/00207179.2012.660734MaRDI QIDQ4905779zbMATH OpenOpenAlexFDO

Authors Zhitao Liu, Romeo Ortega, Hongye Su

Publication date 20 February 2013

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2012.660734

zbMATH Keywords

interconnection and damping assignmentlinear matrix inequalitiespassivity-based controlstabilisation

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Design techniques (robust design, computer-aided design, etc.) (93B51)

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Cites work

• Adaptive motion control of rigid robots: A tutorial
• An LMI approach to stabilization of linear port-controlled Hamiltonian systems
• Canonical transformation and stabilization of generalized Hamiltonian systems
• Control of nonlinear underactuated systems
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Interconnection and damping assignment passivity-based control: a survey
• Linear Matrix Inequalities in System and Control Theory
• Matrix Analysis
• Power-shaping control: writing the system dynamics into the Brayton-Moser form
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
• The matching conditions of controlled Lagrangians and IDA-passivity based control
• The method of controlled Lagrangians: energy plus force shaping

Cited in

(10)

• An LMI approach to stabilization of linear port-controlled Hamiltonian systems
• Local linear dynamics assignment in IDA-PBC
• Interconnection and damping assignment passivity-based control: a survey
• A constructive procedure for energy shaping of port-Hamiltonian systems
• On the equivalence of two nonlinear control approaches: immersion and invariance and IDA-PBC
• Stabilization of electromechanical systems via interconnection and damping assignment
• A new robust adaptive control of uncertain nonlinear systems and pendulum application
• Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples
• Learning feedback Nash strategies for nonlinear port-Hamiltonian systems
• Time optimal control problem for second-order linear time-invariant systems

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