Energy-based control for hybrid port-controlled Hamiltonian systems. (Q1410372)

The authors develop an energy based hybrid control design framework for hybrid port-controlled Hamiltonian systems and discuss the physical properties of such a system. They show that under certain conditions on the system dissipation structure, the closed-loop Hamiltonian function over the continuous time trajectories is equal to the difference between the physical energy of the hybrid system and the energy supplied by the hybrid controller. In addition an inverse optimal hybrid feedback control framework is developed for the hybrid Hamiltonian systems.