Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation
Abstract
In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic extension, constructed from the open loop system, such that the closed loop preserves the port-Hamiltonian form. It is shown that the controller is able to reject the effects of both matched and unmatched disturbances, preserving the regulation of the non-passive outputs. Previous solutions to this problem have relied on a change of coordinates whereas the presented solution is developed using the original state vector and, therefore, retains its physical interpretation. In addition, the resulting closed loop dynamics have a natural interpretation as a Control by Interconnection scheme.
Keywords
Cite
@article{arxiv.1703.07934,
title = {Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation},
author = {Joel Ferguson and Alejandro Donaire and Richard H. Middleton},
journal= {arXiv preprint arXiv:1703.07934},
year = {2017}
}
Comments
8 pages, 2 figures