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Preprints, Working Papers, ... Year : 2024

Contraction Theory and Differential Passivity in the port-Hamiltonian formalism

Abstract

In this work, we recall the concept of contractive dynamics and its natural extension to the notion of differential dissipativity/passivity via the use of the so-called prolonged (or extended) system dynamics, obtained by lifting the system to the tangent bundle of the underlying manifold. The new concept of dissipative differential Hamiltonian dynamics is proposed providing a weaker notion of contractive dynamical system. Furthermore, the differential Hamiltonian notion is extended to the definition of differentially passive port-Hamiltonian system and we describe explicit conditions to exploit the 'natural' differential Hamiltonian function as differential storage function for the port-Hamiltonian system dynamics.
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Dates and versions

hal-04479539 , version 1 (27-02-2024)
hal-04479539 , version 2 (29-03-2024)

Identifiers

  • HAL Id : hal-04479539 , version 2

Cite

Mario Spirito, Bernhard Maschke, Yann Le Gorrec. Contraction Theory and Differential Passivity in the port-Hamiltonian formalism. 2024. ⟨hal-04479539v2⟩
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