Construction of discrete-time models for port-controlled Hamiltonian systems with applications

Dina Shona Laila, A. Astolfi

    Research output: Contribution to journalArticle

    29 Citations (Scopus)


    The issues of constructing a discrete-time model for Hamiltonian systems are in general different from those for dissipative systems. We propose an algorithm for constructing an approximate discrete-time model, which guarantees Hamiltonian conservation. We show that the algorithm also preserves, in a weaker sense, the losslessness property of a class of port-controlled Hamiltonian systems. An application of the algorithm to port-controlled Hamiltonian systems with quadratic Hamiltonian is presented, and we use this to solve the stabilization problem for this class of systems based on the approximate discrete-time model constructed using the proposed algorithm. We illustrate the usefulness of the algorithm in designing a discrete-time controller to stabilize the angular velocity of the dynamics of a rigid body.
    Original languageEnglish
    Pages (from-to)673-680
    JournalSystems & Control Letters
    Issue number8
    Publication statusPublished - 25 Apr 2006

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    • Hamiltonian systems
    • Discrete-time systems
    • Hamiltonian conservation
    • Stabilization
    • Nonlinear systems


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