Discrete-Time IDA-PBC Design For Separable Hamiltonian Systems

Dina Shona Laila, A. Astolfi

Research output: Contribution to conferencePaper

15 Citations (Scopus)

Abstract

We develop a discrete-time counterpart of IDA-PBC design for separable Hamiltonian systems. Euler approximate models are used to obtain the discrete-time control laws, by replacing “differential” in the continuous-time design with “difference” in the discrete-time design. This approach results in a type of discrete-time controller that can be seen as a simple modification of an emulation controller obtained by sample and hold of the continuous-time IDA-PBC controller. However, due to the crucial issue of Hamiltonian conservation in IDA-PBC design, this simple modification, which results in an “almost” Hamiltonian conservation in discrete-time, yields a significant improvement to the performance of the sampled-data control system.
Original languageEnglish
Pages838-843
DOIs
Publication statusPublished - 2005
Event16th IFAC World Congress - Prague, Czech Republic
Duration: 3 Jul 20058 Jul 2005

Conference

Conference16th IFAC World Congress
CountryCzech Republic
CityPrague
Period3/07/058/07/05

Fingerprint

Hamiltonians
Controllers
Conservation
Sampled data control systems

Bibliographical note

The full text is currently unavailable on the repository.

Keywords

  • Hamiltonian systems
  • Discrete-time controller
  • Stabilization
  • Nonlinear sampled-data systems
  • Passivity-based control

Cite this

Laila, D. S., & Astolfi, A. (2005). Discrete-Time IDA-PBC Design For Separable Hamiltonian Systems. 838-843. Paper presented at 16th IFAC World Congress, Prague, Czech Republic. https://doi.org/10.3182/20050703-6-CZ-1902.00540

Discrete-Time IDA-PBC Design For Separable Hamiltonian Systems. / Laila, Dina Shona; Astolfi, A.

2005. 838-843 Paper presented at 16th IFAC World Congress, Prague, Czech Republic.

Research output: Contribution to conferencePaper

Laila, DS & Astolfi, A 2005, 'Discrete-Time IDA-PBC Design For Separable Hamiltonian Systems' Paper presented at 16th IFAC World Congress, Prague, Czech Republic, 3/07/05 - 8/07/05, pp. 838-843. https://doi.org/10.3182/20050703-6-CZ-1902.00540
Laila DS, Astolfi A. Discrete-Time IDA-PBC Design For Separable Hamiltonian Systems. 2005. Paper presented at 16th IFAC World Congress, Prague, Czech Republic. https://doi.org/10.3182/20050703-6-CZ-1902.00540
Laila, Dina Shona ; Astolfi, A. / Discrete-Time IDA-PBC Design For Separable Hamiltonian Systems. Paper presented at 16th IFAC World Congress, Prague, Czech Republic.
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