Stabilization of discrete port-Hamiltonian dynamics via interconnection and damping assignment
Résumé
The paper deals with interconnection and damping assignment for discrete-time port-Hamiltonian systems. Based on a novel state representation, suitably shaped to address energy-based control design, the nonlinear discrete-time controller is characterized and the solution is explicitly computed in the linear case. The design worked out on the exact sampled-data model of a mechanical system confirms the effectiveness of the controller.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)
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