A Lyapunov Approach to Robust Regulation of Distributed Port-Hamiltonian Systems
Abstract
This paper studies robust output tracking and disturbance rejection for boundary controlled infinite-dimensional port--Hamiltonian systems including second order models such as the Euler--Bernoulli beam. The control design is achieved using the internal model principle and the stability analysis using a Lyapunov approach. Contrary to existing works on the same topic no assumption is made on the external well-posedness of the considered class of PDEs. The results are applied to robust tracking of a piezo actuated tube used in atomic force imaging.
Keywords
Cite
@article{arxiv.1906.03867,
title = {A Lyapunov Approach to Robust Regulation of Distributed Port-Hamiltonian Systems},
author = {Lassi Paunonen and Yann Le Gorrec and Héctor Ramírez},
journal= {arXiv preprint arXiv:1906.03867},
year = {2023}
}
Comments
A minor revision with a correction to the simulation example in Section 6. 18 pages, 2 figures. Accepted for publication as a Technical Note in the IEEE Transactions on Automatic Control. The preprint is the final author submitted version. The reproducible simulation code is available in CodeOcean at https://doi.org/10.24433/CO.8086839.v1