Discrete-time IDA-PBC design for underactuated Hamiltonian control systems

Dina Shona Laila, A. Astolfi

Research output: Contribution to conferencePaper


We develop a discrete-time counterpart of IDA-PBC design for a class of Hamiltonian systems. Euler approximate models are used to obtain discrete-time control laws, which are constructed using the coordinate increment discrete gradient. 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, this simple modification provides a solution to the crucial problem of Hamiltonian conservation. In addition, due to the extra flexibility possessed by the proposed discrete-time IDA-PBC design, it has the capacity that yields a significant improvement to the performance of the sampled-data control system
Original languageEnglish
Publication statusPublished - 24 Jul 2006
EventAmerican Control Conference - Minneapolis, United States
Duration: 14 Jun 200616 Jun 2006


ConferenceAmerican Control Conference
Country/TerritoryUnited States

Bibliographical note

The full text is currently unavailable on the repository.


  • Control systems
  • Emulation
  • Nonlinear control systems
  • Nonlinear systems
  • Sampling methods
  • Digital control
  • Portfolios
  • Educational institutions
  • Electric variables measurement
  • Damping
  • sampled data systems
  • asymptotic stability
  • control system synthesis
  • damping
  • discrete time systems
  • Lyapunov methods
  • nonlinear control systems
  • control design
  • underactuated Hamiltonian control systems
  • Euler approximate models
  • discrete-time control
  • coordinate increment discrete gradient
  • Hamiltonian conservation
  • asymptotic stabilization
  • nonlinear sampled-data systems
  • damping assignment passivity-based control


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