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We present a port-Hamiltonian system (PHS) model based on the interconnection between basic hydraulic elements equivalent to electrical components such as capacitors, inductors, and resistors to represent the dynamics of a water micro-channel experimental plant. We compare the fluid-structured interconnected PHS model with the data obtained from a micro-channel experimental plant. We then implement a controller using the total hydraulic-mechanical energy as a local Lyapunov function. Finally, we apply an integral action controller (IAC) to correct for modeling errors and load disturbances. The IAC is easy to design given the proposed interconnected model.

Port-Hamiltonian Modeling and Control of a Micro-Channel Experimental Plant