Discrete-Time IDA-PBC Design For Separable Hamiltonian Systems

Dina Shona Laila, A. Astolfi

Research output: Contribution to conferencePaper

17 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
CountryCzech Republic

Bibliographical note

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

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    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