Related papers: Zero Dynamics for Port-Hamiltonian Systems
Transient stability is crucial to the reliable operation of power systems. Existing theories rely on the simplified electromechanical models, substituting the detailed electromagnetic dynamics of inductor and capacitor with their impedance…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
Formulations of open physical systems within the framework of Non-Equilibrium Reversible/Irreversible Coupling (associated with the acronym "GENERIC") is related in this work with state-space realizations that are given as boundary…
We extend the modeling framework of port-Hamiltonian descriptor systems to include under- and over-determined systems and arbitrary differentiable Hamiltonian functions. This structure is associated with a Dirac structure that encloses its…
A short review of special relativistic dynamics describing a particle acted upon by an arbitrary conservative external force is presented. If the mass of the particle is zero and the force is central then the equations of motion turn out to…
We review in detail the Hamiltonian dynamics for constrained systems. Emphasis is put on the total Hamiltonian system rather than on the extended Hamiltonian system. We provide a systematic analysis of (global and local) symmetries in total…
Port-Hamiltonian systems theory provides a systematic methodology for the modeling, simulation and control of multi-physics systems. The incorporation of algebraic constraints has led to a multitude of definitions of port-Hamiltonian…
Port-Hamiltonian systems (PHS) theory is a recent but already well-established modelling approach for non-linear physical systems. Some studies have shown lately that PHS frameworks are relevant for modelling and control of swarm and…
Implicit representations of finite-dimensional port-Hamiltonian systems are studied from the perspective of their use in numerical simulation and control design. Implicit representations arise when a system is modeled in Cartesian…
This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…
In this paper, we develop high-order splitting methods for linear port-Hamiltonian systems, focusing on preserving their intrinsic structure, particularly the dissipation inequality. Port-Hamiltonian systems are characterized by their…
Port-Hamiltonian system theory is a well-known framework for the control of complex physical systems. The majority of port-Hamiltonian control design methods base on an explicit input-state-output port-Hamiltonian model for the system under…
Hybrid dynamical systems are systems which posses both continuous and discrete transitions. Assuming that the discrete transitions (resets) occur a finite number of times, the optimal control problem can be solved by gluing together the…
A complete structure-preserving learning scheme for single-input/single-output (SISO) linear port-Hamiltonian systems is proposed. The construction is based on the solution, when possible, of the unique identification problem for these…
We present a geometrical demonstration for persistence properties for a bi-Hamiltonian system modelling waves in a shallow water regime. Both periodic and non-periodic cases are considered and a key ingredient in our approach is one of the…
The strict connection between Lie point-symmetries of a dynamical system and its constants of motion is discussed and emphasized, through old and new results. It is shown in particular how the knowledge of a symmetry of a dynamical system…
This article is devoted to a description of the dynamics of the phase flow of monotone contact Hamiltonian systems. Particular attention is paid to locating the maximal attractor (or repeller), which could be seen as the union of compact…
The notion of zero dynamics is a cornerstone of many solutions to important control problems such as feedback linearisation and disturbance decoupling. For a SISO affine control system with relative degree strictly less than the order of…
In recent work [Coretti et al., The Journal of Chemical Physics, 2018, 149, 191102], a new algorithm to solve numerically the dynamics of the shell model for polarization was presented. The approach, broadly applicable to systems involving…
We investigate the possibility to suppress interactions between a finite dimensional system and an infinite dimensional environment through a fast sequence of unitary kicks on the finite dimensional system. This method, called dynamical…