Robust energy shaping control of mechanical systems

DOI10.1016/j.sysconle.2013.05.011zbMath1280.93028OpenAlexW2050624485MaRDI QIDQ2637595

Alejandro Donaire, Jose Guadalupe Romero, Romeo S. Ortega

Publication date: 12 February 2014

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2013.05.011

zbMATH Keywords

nonlinear controlrobust stabilizationmechanical systemspassivity-based controlintegral input-to-state stabilityPI controlinertia matrixgyroscopic forces terms

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Control/observation systems governed by partial differential equations (93C20) Perturbations in control/observation systems (93C73) Input-output approaches in control theory (93D25)

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Cites Work

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• Robust integral control of port-Hamiltonian systems: the case of non-passive outputs with unmatched disturbances
• \(L_2\)-gain and passivity techniques in nonlinear control
• On the addition of integral action to port-controlled Hamiltonian systems
• Passivity of nonlinearity incremental systems: application to PI stabilization of nonlinear RLC circuits
• Inertia characteristics of self-adjoint matrix polynomials
• Robust energy shaping control of mechanical systems
• A characterization of integral input-to-state stability
• Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems

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