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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