Related papers: Weak energy shaping for stochastic controlled port…
In this paper we extend the previously introduced class of boundary port-Hamiltonian systems to boundary control systems where the variational derivative of the Hamiltonian functional is replaced by a pair of reciprocal differential…
Atmospheric systems incorporating thermal dynamics must be stable with respect to both energy and entropy. While energy conservation can be enforced via the preservation of the skew-symmetric structure of the Hamiltonian form of the…
The geometric approach to mechanics based on the Jacobi metric allows to easily construct natural mechanical systems which are integrable (actually separable) at a fixed value of the energy. The aim of the present paper is to investigate…
In this paper we show that feedback passivation under sampling can be preserved under digital control through the redefinition of a passifying output map which depends on the sampling period. The design is constructive and approximate…
In this paper we present a unifying geometric and compositional framework for modeling complex physical network dynamics as port-Hamiltonian systems on open graphs. Basic idea is to associate with the incidence matrix of the graph a Dirac…
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…
Hybrid machine learning based on Hamiltonian formulations has recently been successfully demonstrated for simple mechanical systems, both energy conserving and not energy conserving. We introduce a pseudo-Hamiltonian formulation that is a…
This paper proposes to build a bridge between microscopic descriptions of matter with internal energy, composed of many fast interacting particles inside an environment, and their port-Hamiltonian (PH) descriptions at macroscopic scale. The…
The description of complex systems requires a progressively larger number of parameters. However, in practice, it often happens that a small subset of parameters suffices to describe the dynamics of the system itself: these combinations are…
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…
Weakly chaotic or weakly interacting systems have a wide regime where the common random matrix theory modeling does not apply. As an example we consider cold atoms in a nearly integrable optical billiard with displaceable wall ("piston").…
The zero dynamics of infinite-dimensional systems can be difficult to characterize. The zero dynamics of boundary control systems are particularly problematic. In this paper the zero dynamics of port-Hamiltonian systems are studied. A…
Assuming time-scale separation, a simple and unified theory of thermodynamics and stochastic thermodynamics is constructed for small classical systems strongly interacting with its environment in a controllable fashion. The total…
Given an energy-dissipating port-Hamiltonian system, we characterise the exponential decay of the energy via the model ingredients under mild conditions on the Hamiltonian density $\mathcal{H}$. In passing, we obtain generalisations for…
Total energy shaping through interconnection and damping assignment passivity-based control (IDA-PBC) provides a powerful and systematic framework for stabilizing underactuated mechanical systems. Despite its theoretical appeal,…
A stochastic control of the vibrational motion for a single trapped ion/atom is proposed. It is based on the possibility to continously monitor the motion through a light field meter. The output from the measurement process should be then…
This paper provides a first contribution to port-Hamiltonian modeling of district heating networks. By introducing a model hierarchy of flow equations on the network, this work aims at a thermodynamically consistent port-Hamiltonian…
In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based control. It achieves…
Passive states are special configurations of a quantum system which exhibit no energy decrement at the end of an arbitrary cyclic driving of the model Hamiltonian. When applied to an increasing number of copies of the initial density…
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the…