Discrete-Time IDA-PBC Design For Separable Hamiltonian Systems

Dina Shona Laila, A. Astolfi

    Research output: Contribution to conferencePaper

    22 Citations (Scopus)


    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
    Publication statusPublished - 2005
    Event16th IFAC World Congress - Prague, Czech Republic
    Duration: 3 Jul 20058 Jul 2005


    Conference16th IFAC World Congress
    Country/TerritoryCzech Republic

    Bibliographical note

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


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