Related papers: Model reduction techniques for linear constant coe…
Modeling the dynamics of flexible objects has become an emerging topic in the community as these objects become more present in many applications, e.g., soft robotics. Due to the properties of flexible materials, the movements of soft…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
In this paper, we make a generalization of Routh's reduction method for Lagrangian systems with symmetry to the case where not any regularity condition is imposed on the Lagrangian. First, we show how implicit Lagrange-Routh equations can…
Hamiltonian systems of ordinary and partial differential equations are fundamental mathematical models spanning virtually all physical scales. A critical property for the robustness and stability of computational methods in such systems is…
We present a new structure-preserving model order reduction (MOR) framework for large-scale port-Hamiltonian descriptor systems (pH-DAEs). Our method exploits the structural properties of the Rosenbrock system matrix for this system class…
The dynamics of information diffusion within graphs is a critical open issue that heavily influences graph representation learning, especially when considering long-range propagation. This calls for principled approaches that control and…
For a general class of nonlinear port-Hamiltonian systems we develop a high-order time discretization scheme with certain structure preservation properties. The finite or infinite-dimensional system under consideration possesses a…
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This…
We study the regularization problem for port-Hamiltonian descriptor systems by proportional and/or derivative output feedback. Necessary and sufficient conditions are given, which guarantee that there exist output feedbacks such that the…
In this paper, we treat extended balancing for continuous-time linear time-invariant systems, and we address the problem of structure-preserving model reduction of the subclass of port-Hamiltonian systems. We establish sufficient conditions…
Port-Hamiltonian systems provide an energy-based modeling paradigm for dynamical input-state-output systems. At their core, they fulfill an energy balance relating stored, dissipated and supplied energy. To accurately resolve this energy…
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…
Many dynamical systems -- from robots interacting with their surroundings to large-scale multiphysics systems -- involve a number of interacting subsystems. Toward the objective of learning composite models of such systems from data, we…
In this article we study a class of hyperbolic partial differential equations of order one on the semi-axis. The so-called port-Hamiltonian systems cover for instance the wave equation and the transport equation, but also networks of the…
This article presents an innovative approach to integrating port-Hamiltonian systems with neural network architectures, transitioning from deterministic to stochastic models. The study presents novel mathematical formulations and…
A prevalent theme throughout science and engineering is the ongoing paradigm shift away from isolated systems towards open and interconnected systems. Port-Hamiltonian theory developed as a synthesis of geometric mechanics and network…
A structure preserving proper orthogonal decomposition reduce-order modeling approach has been developed in [Gong et al. 2017] for the Hamiltonian system, which uses the traditional framework of Galerkin projection-based model reduction but…
First, two examples of 1D distributed port-Hamiltonian systems with dissipation, given in explicit (descriptor) form, are considered: the Dzekster model for the seepage of underground water and a nanorod model with non-local viscous…
Stokes-Dirac structures are infinite-dimensional Dirac structures defined in terms of differential forms on a smooth manifold with boundary. These Dirac structures lay down a geometric framework for the formulation of Hamiltonian systems…
We extend the port-Hamiltonian framework defined with respect to a Lagrangian submanifold and a Dirac structure by augmenting the Lagrangian submanifold with the space of external variables. The new pair of conjugated variables is called…