Related papers: Discrete-time port-Hamiltonian systems: A definiti…
This paper presents a port-Hamiltonian formulation of hysteretic energy storage elements. First, we revisit the passivity property of backlash-driven storage elements by presenting a family of storage functions associated to the…
The anisotropic and heterogeneous $N$-dimensional wave equation, controlled and observed at the boundary, is considered as a port-Hamiltonian system. A recent structure-preserving mixed Galerkin method is applied, leading directly to a…
In this contribution we present an intrinsic description of time-variant Port Hamiltonian systems as they appear in modeling and control theory. This formulation is based on the splitting of the state bundle and the use of appropriate…
A new geometric procedure to construct symplectic methods for constrained mechanical systems is developed in this paper. The definition of a map coming from the notion of retraction maps allows to adapt the continuous problem to the…
The modeling framework of port-Hamiltonian systems is systematically extended to constrained dynamical systems (descriptor systems, differential-algebraic equations). A new algebraically and geometrically defined system structure is…
Motivated by recent work in this area we expand on a generalization of port-Hamiltonian systems that is obtained by replacing the Hamiltonian function representing energy storage by a general Lagrangian subspace. This leads to a new class…
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…
An energy-based modeling framework for the nonlinear dynamics of spatial Cosserat rods undergoing large displacements and rotations is proposed. The mixed formulation features independent displacement, velocity and stress variables and is…
It is well known that any port-Hamiltonian (pH) system is passive, and conversely, any minimal and stable passive system has a pH representation. Nevertheless, this equivalence is only concerned with the input-output mapping but not with…
The Irreversible Port-Hamiltonian Systems (IPHS) framework is extended to the modelling of non-isentropic fluids with viscous dissipation in the Eulerian description. Building on earlier IPHS formulations for diffusion-driven and…
Conventional physics-based modeling techniques involve high effort, e.g., time and expert knowledge, while data-driven methods often lack interpretability, structure, and sometimes reliability. To mitigate this, we present a data-driven…
We propose a class of numerical integration methods for stochastic Poisson systems (SPSs) of arbitrary dimensions. Based on the Darboux-Lie theorem, we transform the SPSs to their canonical form, the generalized stochastic Hamiltonian…
We construct so-called Darboux transformations and solutions of the dynamical Hamiltonian systems with several space variables $\frac{\partial \psi}{\partial t}=\sum_{k=1}^r H_k(t)\frac{\partial \psi}{\partial \zeta_k}\,$ $( H_k(t)=…
This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile manipulators. Unlike…
The relationships between port-Hamiltonian systems modeling and the notion of monotonicity are explored. The earlier introduced notion of incrementally port-Hamiltonian systems is extended to maximal cyclically monotone relations, together…
We provide an introduction to infinite-dimensional port-Hamiltonian systems. As this research field is quite rich, we restrict ourselves to the class of infinite-dimensional linear port-Hamiltonian systems on a one-dimensional spatial…
In this contribution, we extend the hybridization framework for the Hodge Laplacian [Awanou et al., Hybridization and postprocessing in finite element exterior calculus, 2023] to port-Hamiltonian systems describing linear wave propagation…
The existence of explicit symplectic integrators for general nonseparable Hamiltonian systems is an open and important problem in both numerical analysis and computing in science and engineering, as explicit integrators are usually more…
We propose a discretization of vector fields that are Hamiltonian up to multiplication by a positive function on the phase space that may be interpreted as a time reparametrization. We prove that our method is structure preserving in the…
In this work, we propose a structure-preserving discretisation for the recently studied Cahn-Hilliard-Biot system using conforming finite elements in space and problem-adapted explicit-implicit Euler time integration. We prove that the…