Discrete IDA-PBC control law for Newtonian mechanical port-Hamiltonian systems - Archive ouverte HAL
Communication Dans Un Congrès Année : 2015

Discrete IDA-PBC control law for Newtonian mechanical port-Hamiltonian systems

Résumé

This paper deals with the stability of discrete closed-loop dynamics arising from digital IDA-PBC controller design. This work concerns the class of Newtonian mechanical port-Hamiltonian systems (PHSs), that is those having separable energy being quadrating in momentum (with constant mass matrix). We first introduce a discretization scheme which ensures a passivity equation relatively to the same storage and dissipation functions as the continuous-time PHS. A discrete controller is then obtained following the IDA-PBC design procedure applied to the discrete PHS system. This method guarantees that, from an energetic viewpoint, the discrete closed-loop behavior is similar to the continuous one. Under zero-state observability assumption, closed-loop stability then follows from LaSalle principle. The method is illustrated on an inertia wheel pendulum model.

Dates et versions

hal-01863401 , version 1 (28-08-2018)

Identifiants

Citer

Said Aoues, Damien Eberard, Wilfrid Marquis-Favre. Discrete IDA-PBC control law for Newtonian mechanical port-Hamiltonian systems. 54th IEEE CDC, Dec 2015, Osaka, Japan. ⟨10.1109/CDC.2015.7402904⟩. ⟨hal-01863401⟩
51 Consultations
0 Téléchargements

Altmetric

Partager

More