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.
|Publication status||Published - 2005|
|Event||16th IFAC World Congress - Prague, Czech Republic|
Duration: 3 Jul 2005 → 8 Jul 2005
|Conference||16th IFAC World Congress|
|Period||3/07/05 → 8/07/05|
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- Hamiltonian systems
- Discrete-time controller
- Nonlinear sampled-data systems
- Passivity-based control