Structure Preserving Adaptive Control of Port-Hamiltonian Systems

Daniel A. Dirksz, Jacquelien M. A. Scherpen
2012 IEEE Transactions on Automatic Control  
In this paper an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of systems and for being included in the port-Hamiltonian framework. The authors are with the Faculty
doi:10.1109/tac.2012.2192359 fatcat:o53c3fq45jbw7ai6kagaigtlsy