Integral IDA-PBC and PID-like control for port-controlled Hamiltonian systems

M. Ryalat, Dina Shona Laila, M. M. Torbati

    Research output: Chapter in Book/Report/Conference proceedingConference proceeding

    18 Citations (Scopus)


    Interconnection and damping assignment passivity based control (IDA-PBC) has gained increasing popularity. In this paper, we propose constructive results on integral IDA-PBC and PID-type controllers for a class of port-controlled Hamiltonian (PCH) systems. The results extend some existing methods and address a new framework that allows the implementation of integral action control to under-actuated PCH systems that are quite commonly found in practice. Application of the results to control a Quanser inertia wheel pendulum is provided.
    Original languageEnglish
    Title of host publication2015 American Control Conference (ACC)
    ISBN (Electronic)978-1-4799-8684-2
    Publication statusPublished - 30 Jul 2015
    EventAmerican Control Conference - Chicago, United States
    Duration: 1 Jul 20153 Jul 2015

    Publication series

    NameProceedings of the American Control Conference
    ISSN (Print)0743-1619
    ISSN (Electronic)2378-5861


    ConferenceAmerican Control Conference
    Country/TerritoryUnited States

    Bibliographical note

    The full text is currently unavailable on the repository.


    • Integrated circuits
    • Damping
    • Mechanical systems
    • Wheels
    • Mathematical model
    • Asymptotic stability
    • Robustness
    • three-term control
    • control system synthesis
    • damping
    • nonlinear control systems
    • pendulums
    • Quanser inertia wheel pendulum
    • integral IDA-PBC
    • interconnection and damping assignment passivity based control
    • PID-like control
    • port-controlled Hamiltonian systems
    • underactuated PCH systems
    • integral action control
    • under-actuated systems
    • Hamiltonian systems
    • passivity-based control


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