Abstract
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 language | English |
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| DOIs | |
| Publication status | Published - 24 Jul 2006 |
| Event | American Control Conference - Minneapolis, United States Duration: 14 Jun 2006 → 16 Jun 2006 |
Conference
| Conference | American Control Conference |
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| Country/Territory | United States |
| City | Minneapolis |
| Period | 14/06/06 → 16/06/06 |
Bibliographical note
The full text is currently unavailable on the repository.Keywords
- 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