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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

Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one

J.A. Acosta, R. Ortega, A. Astolfi, A.D. Mahindrakar
2005 IEEE Transactions on Automatic Control  
Interconnection and damping assignment passivity-based control is a new controller design methodology developed for (asymptotic) stabilization of nonlinear systems that does not rely on, sometimes unnatural  ...  and technique-driven, linearization or decoupling procedures but instead endows the closed-loop system with a Hamiltonian structure with a desired energy function-that qualifies as Lyapunov function for  ...  Panteley and G. Viola for their reading of the original manuscript.  ... 
doi:10.1109/tac.2005.860292 fatcat:z2kchwfdc5hd3pglmzjwdwt24a

Constructive interconnection and damping assignment passivity-based control with applications

Kameswarie Nunna, Alessandro Astolfi, Paul D Mitcheson
2015
While Interconnection and Damping Assignment Passivity-based Control (IDA-PBC) is a powerful theoretical tool to control port-controlled Hamiltonian (PCH) systems that arise from energy balancing principles  ...  In the second part of the thesis, the design of a nonlinear observer and of an energy-based controller for sensorless operation of a rotational energy harvester is presented.  ...  A brief history of Interconnection and Damping Assignment Passivity-based Control (IDA-PBC), the variations of this technique in literature and an application have been presented in Chapter 1.  ... 
doi:10.25560/24587 fatcat:siuf4suhrfd7nj5k47fkxq7t7i

Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one

J.A. Acosta, R. Ortega, A. Astolfi
2004 Proceedings of the 2004 American Control Conference   unpublished
Interconnection and damping assignment passivity-based control is a new controller design methodology developed for (asymptotic) stabilization of nonlinear systems that does not rely on, sometimes unnatural  ...  and technique-driven, linearization or decoupling procedures but instead endows the closed-loop system with a Hamiltonian structure with a desired energy function-that qualifies as Lyapunov function for  ...  Panteley and G. Viola for their reading of the original manuscript.  ... 
doi:10.23919/acc.2004.1384373 fatcat:xr2wbhbl4rhujbrud354ypff6m

Passivity analysis of linear physical systems with internal energy sources modelled by bond graphs

Roger F Ngwompo, René Galindo
2017 Proceedings of the Institution of mechanical engineers. Part I, journal of systems and control engineering  
Integrated dynamic systems such as mechatronic or control systems generally contain passive elements and internal energy sources that are appropriately modulated to perform the desired dynamic actions.  ...  The paper focuses on systems interconnected in cascade (with no loading effect) or in closed-loop configurations which are common in control systems.  ...  Acknowledgements This work was completed when the second author was an academic visitor at the University of Bath and was supported by the CONACyT Sabbatical Project 000000000261575.  ... 
doi:10.1177/0959651816682144 fatcat:tmnujimp2nhx5mk7vmga3me2uy

Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems

Romeo Ortega, Arjan van der Schaft, Fernando Castanos, Alessandro Astolfi
2008 IEEE Transactions on Automatic Control  
Index Terms-Hamiltonian systems, interconnection, nonlinear systems, passivity, passivity-based control (PBC), stabilization. 1 Central to the formulation of PH models is the geometric notion of a Dirac  ...  To regulate the behavior of PH systems it is natural to adopt a Passivity-Based Control (PBC) perspective, where the control objectives are achieved shaping the energy function and adding dissipation.  ...  (EB), Interconnection and Damping Assignment (IDA) and Power-Shaping (PS) PBC.  ... 
doi:10.1109/tac.2008.2006930 fatcat:mbmy42ykivfrlnnccc2dlh5gcm

Putting energy back in control

2001 IEEE Control Systems  
This "energy-shaping" approach is the essence of passivity-based control (PBC), a controller design technique that is very well known in mechanical systems.  ...  The control problem can then be recast as finding a dynamical system and an interconnection pattern such that the overall energy function takes the desired form.  ...  Acknowledgments Part of this work was carried out while the first author was visiting Melbourne University. The hospitality of this institution is gratefully acknowledged.  ... 
doi:10.1109/37.915398 fatcat:dj57qayzuzdspkaclni3uaeeyi

Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems

Kameswarie Nunna, Mario Sassano, Alessandro Astolfi
2015 IEEE Transactions on Automatic Control  
The Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) problem for port-controlled Hamiltonian systems is revisited.  ...  A dynamic control law is constructed for both these systems by assigning a damping factor that cannot be assigned by the classical IDA-PBC.  ...  Therefore, an Interconnection and Damping Assignment passivity-based control problem should be solved.  ... 
doi:10.1109/tac.2015.2400663 fatcat:xqkj32oe3rdi5kr3ddt7vjxs5y

Control via Interconnection and Damping Assignment of Linear Time–Invariant Systems is Equivalent to Stabilizability

Zhitao Liu, Romeo Ortega, Hongye Su
2011 IFAC Proceedings Volumes  
In this brief note it is shown that the linear matrix inequalities that result from the application of interconnection and damping assignment passivity-based control to general linear time-invariant systems  ...  are feasible if and only if the system is stabilizable.  ...  INTERCONNECTION AND DAMPING ASSIGNMENT PASSIVITY-BASED CONTROL IDA-PBC was introduced in [1], [2] as a procedure to stabilize a desired equilibrium for physical systems described by PH models.  ... 
doi:10.3182/20110828-6-it-1002.00370 fatcat:vfmorbwrfbafrgrvstnak4hpfi

Tuning of Passivity-Preserving Controllers for Switched-Mode Power Converters

D. Jeltsema, J.M.A. Scherpen
2004 IEEE Transactions on Automatic Control  
Index Terms-Brayton-Moser equations, controller commissioning, passivity-based control, power converters, tuning.  ...  Nonlinear passivity-based control (PBC) algorithms for power converters have proved to be an interesting alternative to other, mostly linear, control techniques.  ...  ACKNOWLEDGMENT The authors would like to thank the anonymous reviewers for their careful reading and their detailed and constructive reviews.  ... 
doi:10.1109/tac.2004.832236 fatcat:mwmlty57sjhz7l2lzxt34uucb4

The matching conditions of controlled Lagrangians and IDA-passivity based control

Guido Blankenstein, Romeo Ortega, Arjan J. Van Der Schaft
2002 International Journal of Control  
This paper discusses the matching conditions resulting from the controlled Lagrangians method and the interconnection and damping assignment passivity based control (IDA-PBC) method.  ...  The ¶-method as described in recent papers for the controlled Lagrangians method, transforming the matching conditions (a set of non-linear PDEs) into a set of linear PDEs, is discussed.  ...  The work of the ®rst author was carried out during a post-doctora l position at SUPELEC, France, and was partly funded by the Research Network NACO-2 of the European Union.  ... 
doi:10.1080/00207170210135939 fatcat:4ebkwt43ifaujon7rvoevjjsdy

Robust integral control of port-Hamiltonian systems: The case of non-passive outputs with unmatched disturbances

Romeo Ortega, Jose Guadalupe Romero
2011 IEEE Conference on Decision and Control and European Control Conference  
In this paper we address the aforementioned problems and propose a procedure to design robust ICs for port-Hamiltonian models, that characterize the behavior of a large class of physical systems.  ...  In many applications, however, the signal of interest is not a passive output and ensuring its regulation remains an open problem.  ...  Acknowledgements The authors thank Arjan van der Schaft and Alejandro Donaire for useful discussions, and Mickael Hilairet for bringing the interesting paper [4] to their attention.  ... 
doi:10.1109/cdc.2011.6160543 dblp:conf/cdc/OrtegaR11 fatcat:lxt5bwllbvgdrpuj4ks6xt7nwq

Transient stabilization of multimachine power systems with nontrivial transfer conductances

2005 IEEE Transactions on Automatic Control  
To design the control law we apply the recently introduced interconnection and damping assignment passivity-based control methodology that endows the closed-loop system with a port-controlled Hamiltonian  ...  A key step in the construction is the modification of the energy transfer between the electrical and the mechanical parts of the system which is obtained via the introduction of state-modulated interconnections  ...  ACKNOWLEDGMENT The first author would like to thank A. Stankovic and A. Bazanella with whom this research started, I. Hiskens for his help with the literature review, and D.  ... 
doi:10.1109/tac.2004.840477 fatcat:iw5a4ybzxnf4xlhe5fvw4iyuv4

Robust integral control of port-Hamiltonian systems: The case of non-passive outputs with unmatched disturbances

Romeo Ortega, Jose Guadalupe Romero
2012 Systems & control letters (Print)  
In this paper we address the aforementioned problems and propose a procedure to design robust ICs for port-Hamiltonian models, that characterize the behavior of a large class of physical systems.  ...  In many applications, however, the signal of interest is not a passive output and ensuring its regulation remains an open problem.  ...  Acknowledgements The authors thank Arjan van der Schaft and Alejandro Donaire for useful discussions, and Mickael Hilairet for bringing the interesting paper [4] to their attention.  ... 
doi:10.1016/j.sysconle.2011.09.015 fatcat:nyeqesrlybg63j4jpimr4ij7cy

On the equivalence of two nonlinear control approaches: Immersion and invariance and IDA-PBC

Paul Kotyczka, Ioannis Sarras
2013 European Journal of Control  
In this paper we compare the two well known nonlinear control design techniques Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) and Immersion and Invariance (I&I) at the example  ...  Keywords: Underactuated mechanical systems, port-Hamiltonian systems, passivity based control, Immersion and Invariance. the energy function which is constructed in the course of the design process analytically  ...  In contrast, the IDA-PBC procedure directly leads to the energy shaping and damping injection control laws (15) and (16) .  ... 
doi:10.1016/j.ejcon.2013.09.008 fatcat:imol7od23rconfng5cqplsccze
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