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Interconnection and Damping Assignment Passivity-Based Control: A Survey

Romeo Ortega, Eloísa García-Canseco
2004 European Journal of Control  
Interconnection and damping assignment passivitybased control is a technique that regulates the behavior of non-linear systems assigning a desired (portcontrolled Hamiltonian) structure to the closed-loop  ...  The theoretical developments include some variations and shortcuts that are useful when dealing with particular classes of systems, and the incorporation of additional features to handle control scenarios  ...  Acknowledgment This work was partially supported by CONACYT, Mexico, and the European sponsored GeoPlex project with reference code IST-2001-34166.  ... 
doi:10.3166/ejc.10.432-450 fatcat:wvhcm45lrvckdhn2pll7taw2g4

Simultaneous Interconnection and Damping Assignment Passivity-based Control of Mechanical Systems Using Generalized Forces [article]

Alejandro Donaire, Romeo Ortega, Jose Guadalupe Romero
2015 arXiv   pre-print
To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the  ...  First, similarly to [1], it is proposed to avoid the splitting of the control action into energy-shaping and damping injection terms, but instead to carry them out simultaneously.  ...  This idea of total energy shaping was first introduced in [4] with the two main approaches being now: the method of controlled Lagrangians [5] and Interconnection and Damping Assignment Passivity-Based  ... 
arXiv:1506.07679v1 fatcat:6qea3yzxwza43pjcchc2zdz7tu

Simultaneous interconnection and damping assignment passivity-based control: the induction machine case study

Carles Batlle, Arnau Dòria-Cerezo, Gerardo Espinosa-Pérez, Romeo Ortega
2009 International Journal of Control  
Introduction Passivity-based control (PBC) is a generic name given to a family of controller design techniques that achieves system stabilisation via the route of passivation, that is, rendering the closed-loop  ...  R, satisfying the skew-symmetry condition for the interconnection matrix J d ðx, tÞ þ J > d ðx, tÞ ¼ 0, ð4Þ and the equilibrium assignment condition for the desired total stored energy x ?  ... 
doi:10.1080/00207170802050817 fatcat:p4t2xnbmhbc6zlsy47re6or3hq

Interconnection and Damping Assignment Passivity–Based Control of an Underactuated 2–DOF Gyroscope

Gustavo Cordero, Víctor Santibáñez, Alejandro Dzul, Jesús Sandoval
2018 International Journal of Applied Mathematics and Computer Science  
In this paper we present interconnection and damping assignment passivity-based control (IDA-PBC) applied to a 2 degrees of freedom (DOFs) underactuated gyroscope.  ...  Next, the solutions of the partial differential equations involved in getting the proper controller are presented using a reduction method to handle them as ordinary differential equations.  ...  Acknowledgment This work was partially supported by TecNM, the CONACYT grant no. 134534 and the CONACYT grant no. 166636.  ... 
doi:10.2478/amcs-2018-0051 fatcat:icjnsfnp6vbctpnf2glgghcn5a

Interconnection and damping assignment passivity-based current control of grid-connected PWM converter with LCL-filter

Matthias Bottcher, Jorg Dannehl, F W Fuchs
2010 Proceedings of 14th International Power Electronics and Motion Control Conference EPE-PEMC 2010  
Interconnection and Damping Assignment Passivity-Based Control of grid-connected PWM converters with LCL-filter is designed and analyzed.  ...  Dynamic performance, resonance damping and robustness against grid impedance variations are studied by simulation and show good results.  ...  The recently developed interconnection and damping assignment passivity-based control (IDA-PBC) is the most auspicious variant [30] .  ... 
doi:10.1109/epepemc.2010.5606817 fatcat:ef7p5j7tazc5xh7tjrwt3bhx7q

Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples [chapter]

Carles Batlle, Arnau Dòria-Cerezo, Gerardo Espinosa-Pérez, Romeo Ortega
Lagrangian and Hamiltonian Methods for Nonlinear Control 2006  
Introduction Passivity-based control (PBC) is a generic name given to a family of controller design techniques that achieves system stabilization via the route of passivation, that is, rendering the closed-loop  ...  , as indicated by its name, is responsible of assigning the desired energy/storage function to the passive map, and a second L g V term that injects damping for asymptotic stability.  ... 
doi:10.1007/978-3-540-73890-9_12 fatcat:rxzesqbhvvbzzmr25migiaw5de

Fault Tolerant Flight Control - A Survey [chapter]

Michel Verhaegen, Stoyan Kanev, Redouane Hallouzi, Colin Jones, Jan Maciejowski, Hafid Smail
2010 Lecture notes in control and information sciences  
Control systems are present in every industry, they are used to control chemical reactors, distillation columns, and nuclear power plants.  ...  They are in our kitchens, in our DVD-players, computers and our cars. They are found in elevators, ships, aircraft and spacecraft.  ...  Passive FTC systems are based on robust controller design techniques and aim at synthesizing a single, robust controller that makes the closed-loop system insensitive to anticipated faults.  ... 
doi:10.1007/978-3-642-11690-2_2 fatcat:go6waw4txjeuzn7bsqfwsqqgce

An energy perspective on modelling, supervision, and control of large-scale industrial systems: Survey and framework

George van Schoor, Kenneth R. Uren, Michael A. van Wyk, Pieter A. van Vuuren, Carel P. du Rand
2014 IFAC Proceedings Volumes  
This brief survey and framework gives a perspective on energy as a unifying domain for system modelling, supervision, and control.  ...  The connection between control and process supervision using passivity theory coupled with a system energy balance is also established.  ...  This paper gives an energy perspective on modelling, supervision, and control of large-scale industrial systems in the form of a brief survey and proposed framework.  ... 
doi:10.3182/20140824-6-za-1003.02190 fatcat:coawpjd4mbfilpeexd5zrsiygq

Active suspension in railway vehicles: a literature survey

Bin Fu, Rocco Libero Giossi, Rickard Persson, Sebastian Stichel, Stefano Bruni, Roger Goodall
2020 Railway Engineering Science  
Lastly, a brief summary and outlook is presented in terms of benefits, research status and challenges. The potential for active suspensions in railway applications is outlined.  ...  Being the starting point of commercial application of active suspensions in rail vehicles, tilting trains have become a great success in some countries.  ...  as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made.  ... 
doi:10.1007/s40534-020-00207-w fatcat:k5dxog4jgbdodjcts2seglssmq

Matching in the Method of Controlled Lagrangians and IDA-Passivity Based Control [chapter]

G. Blankenstein, R. Ortega, A. J. van der Schaft
2005 Nonlinear and Adaptive Control  
This paper reviews the method of controlled Lagrangians and the interconnection and damping assignment passivity based control (IDA-PBC) method.  ...  closed-loop interconnection structure.  ...  The work of the first author was carried out during a post-doctoral position at SUPELEC, France, and was partly funded by the Research Network NACO-2 of the European Union.  ... 
doi:10.1142/9781860947346_0004 fatcat:juzjwuepqvcqzimp7afvjgn7ui

A UNIFIED PORT-HAMILTONIAN APPROACH FOR MODELLING AND STABILIZING CONTROL OF ENGINEERING SYSTEMS

Ha Ngoc Hoang, Quyen Phuong Le, Thuan Chi Nguyen
2021 Vietnam Journal of Science and Technology  
properties usable for the tracking-error passivity-based control design.  ...  Different kinds of linear and nonlinear engineering systems including an open isothermal homogeneous system and a continuous biochemical fermenter are used to illustrate the approach.  ...  In order to assess the performance of the proposed controller, we consider next the interconnection and damping assignment passivity-based control (IDA-PBC) approach [3, 10, 12] for the purpose of comparison  ... 
doi:10.15625/2525-2518/59/1/15238 fatcat:d6vceifmpvcvjnreud6hwvww74

Passivity-based control of a wound-rotor synchronous motor

A. Dòria-Cerezo, G. Espinosa-Pérez, C. Batlle
2010 IET Control Theory & Applications  
From the Hamiltonian structure, the Simultaneous Interconnection and Damping Assignment (SIDA-PBC) technique is used to compute the control action, which results in a controller with a simpler architecture  ...  This paper presents a new nonlinear passivity-based controller for a wound rotor synchronous machine, acting as a motor drive.  ...  (IN112908) and CONACYT (51050).  ... 
doi:10.1049/iet-cta.2009.0641 fatcat:s34crrgbkvgk3i4bvfjrqvwpqq

Passivity-based control of linear time-invariant systems modelled by bond graph

R. Galindo, R. F. Ngwompo
2017 International Journal of Control  
Moreover, the feedback interconnection is used and the controller is tuned getting necessary and sufficient stability conditions based on the characteristic polynomial of the closed loop transfer function  ...  In both interconnections, junction structures and multiport-coupled dissipative fields for the controllers are proposed and passivity is guaranteed for the closed loop systems assuring robust stability  ...  Acknowledgements This work was completed when the first author was an academic visitor at the University of Bath and was supported by the CONACyT Sabbatical project 000000000261575.  ... 
doi:10.1080/00207179.2017.1283062 fatcat:nxndz7fu6jhkpaxxbjoa2yxikq

PASSIVITY BASED CONTROL WITH SIMULTANEOUS ENERGY SHAPING AND DAMPING INJECTION: THE INDUCTION MOTOR CASE STUDY

R. Ortega, G. Espinosa-Pérez
2005 IFAC Proceedings Volumes  
We argue in this paper that the standard procedure used Passivity-Based Controller (PBC) designs of splitting the control action into energy-shaping and damping injection terms is not without loss of generality  ...  It is, however, solvable carrying out simultaneously the energy-shaping and the damping injection.  ...  ., A. van der Schaft, B. Maschke and G. Escobar (2002a). Interconnection and damping assignment passivity- This work has been partially supported by CONACyT (41298Y) and DGAPA-UNAM (IN119003).  ... 
doi:10.3182/20050703-6-cz-1902.00734 fatcat:2tk46h6pdbekxai3iecyela7di

AN INTRODUCTION TO GEOPLEX: PORT BASED MODELING AND CONTROL

Stefano Stramigioli
2005 IFAC Proceedings Volumes  
The paper presents a survey of the concepts which are handled in the the FP5 IST-2001-34166 project called GEOPLEX which was launched in March 2002 by the European Commission.  ...  The paper is purely intented as an introduction to the special session of which it makes part of and as such does not mean to be a scientific contribution Copyright c 2005 IFAC.  ...  The most general technique to do this is called Interconnection and Damping Assignment, Passivity Based Control (IDA-PBC) (Ortega et al., 2002) .  ... 
doi:10.3182/20050703-6-cz-1902.00732 fatcat:kxpzavxyabch3helnf3gku5qk4
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