Integral Control of Port-Hamiltonian Systems: Nonpassive Outputs Without Coordinate Transformation

DOI10.1109/TAC.2017.2700995zbMATH Open1390.93633arXiv1703.07934MaRDI QIDQ4566945FDOQ4566945

Authors: Joel Ferguson, Richard H. Middleton, Alejandro Donaire 

Publication date: 27 June 2018

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic extension, constructed from the open loop system, such that the closed loop preserves the port-Hamiltonian form. It is shown that the controller is able to reject the effects of both matched and unmatched disturbances, preserving the regulation of the non-passive outputs. Previous solutions to this problem have relied on a change of coordinates whereas the presented solution is developed using the original state vector and, therefore, retains its physical interpretation. In addition, the resulting closed loop dynamics have a natural interpretation as a Control by Interconnection scheme.

Full work available at URL: https://arxiv.org/abs/1703.07934

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Mathematics Subject Classification ID

Dynamical systems in control (37N35) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Stabilization of systems by feedback (93D15)

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• Output feedback based simultaneous stabilization of two port-controlled Hamiltonian systems with disturbances
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• Permanent magnet synchronous motors are globally asymptotically stabilizable with PI current control

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