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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