@inproceedings{b3942df8dffa449a88546ab4bd0fda99,
title = "Integral IDA-PBC and PID-like control for port-controlled Hamiltonian systems",
abstract = "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.",
keywords = "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",
author = "M. Ryalat and Laila, {Dina Shona} and Torbati, {M. M.}",
note = "The full text is currently unavailable on the repository.; American Control Conference ; Conference date: 01-07-2015 Through 03-07-2015",
year = "2015",
month = jul,
day = "30",
doi = "10.1109/ACC.2015.7172178",
language = "English",
series = "Proceedings of the American Control Conference",
publisher = "IEEE",
pages = "5365--5370",
booktitle = "2015 American Control Conference (ACC)",
address = "United States",
}