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Output control design and separation principle for a class of port‐Hamiltonian systems
Author(s) -
Yaghmaei Abolfazl,
Yazdanpanah Mohammad Javad
Publication year - 2018
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4407
Subject(s) - control theory (sociology) , passivity , underactuation , interconnection , nonlinear system , hamiltonian system , hamiltonian (control theory) , nonlinear control , computer science , separation principle , control engineering , mathematics , engineering , mathematical optimization , control (management) , state observer , physics , mathematical analysis , computer network , electrical engineering , quantum mechanics , artificial intelligence
Summary Using a structure preserving observer, a dynamic output controller is proposed for a class of port‐Hamiltonian systems. The core of this method is based on the notion of contractive port‐Hamiltonian systems. The proposed method utilizes an extended form of IDA‐PBC (interconnection and damping assignment passivity‐based control), a well‐known controller design method for port‐Hamiltonian systems and paves the way for using IDA‐PBC in output control design of challenging control objectives, such as output tracking for underactuated mechanical systems. In the line of output control design, a useful separation principle for a class of port‐Hamiltonian systems is achieved, which is valuable in the field of nonlinear systems. Some simulations on magnetic levitation and ball on wheel testbeds show the potency and applicability of the proposed method.