A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf
.
ON CONTROL BY INTERCONNECTION OF PORT HAMILTONIAN SYSTEMS
2005
IFAC Proceedings Volumes
In the standard approach of control by interconnection the plant and the controller are assumed to be passive and coupled via a power-preserving interconnectiongenerating an overall passive system with storage function the sum of the plant and controller storage functions. To achieve stabilization of a desired equilibrium one must make this point a minimum of the new storage function. Towards this end, dynamic invariants-called Casimirs-are first computed. Restricting the dynamics to the level
doi:10.3182/20050703-6-cz-1902.00709
fatcat:fz4tpto3nngsdd2xdjpcqzvxke