Related papers: Linear Boundary Port-Hamiltonian Systems with Impl…
In this paper, we extend the port-Hamiltonian framework by introducing the concept of Stokes-Lagrange structure, which enables the implicit definition of a Hamiltonian over an $N$-dimensional domain and incorporates energy ports into the…
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…
In this paper we prove that a large class of linear evolution PDEs defines a Stokes-Dirac structure over Hilbert spaces. To do so, the theory of boundary control system is employed. This definition encompasses problems from mechanics, that…
We consider infinite dimensional port-Hamiltonian systems. Based on a power balance relation we introduce the port-Hamiltonian system representation where we pay attention to two different scenarios, namely the non-differential operator…
In this paper we present a novel approach to the geometric formulation of solid and fluid mechanics within the port-Hamiltonian framework, which extends the standard Hamiltonian formulation to non-conservative and open dynamical systems.…
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…
Simplicial Dirac structures as finite analogues of the canonical Stokes-Dirac structure, capturing the topological laws of the system, are defined on simplicial manifolds in terms of primal and dual cochains related by the coboundary…
In this paper we propose a novel approach to discretize linear port-Hamiltonian systems while preserving the underlying structure. We present a finite element exterior calculus formulation that is able to mimetically represent conservation…
After recalling standard nonlinear port-Hamiltonian systems and their algebraic constraint equations, called here Dirac algebraic constraints, an extended class of port-Hamiltonian systems is introduced. This is based on replacing the…
Port-Hamiltonian systems theory provides a structured approach to modelling, optimization and control of multiphysical systems. Yet, its relationship to thermodynamics seems to be unclear. The Hamiltonian is traditionally thought of as…
The solution of constrained linear partial-differential equations can be described via parametric representations of linear relations. To study these representations, we provide a novel definition of boundary triplets for linear relations…
Control theory often takes the mathematical model of the to-be-control-led system for granted. In contrast, port-Hamiltonian systems theory bridges the gap between modelling and control for physical systems. It provides a unified framework…
Part I of this paper presented a systematic derivation of the Stokes Dirac structure underlying the port-Hamiltonian model of ideal fluid flow on Riemannian manifolds. Starting from the group of diffeomorphisms as a configuration space for…
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 the present work we formally extend the theory of port-Hamiltonian systems to include random perturbations. In particular, suitably choosing the space of flow and effort variables we will show how several elements coming from possibly…
In this paper, we consider linear boundary port-Hamiltonian distributed parameter systems on a time-varying spatial domain. We derive the specific time-varying Dirac structure that these systems give rise to and use it to formally establish…
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…
This paper focuses on the port-Hamiltonian formulation of systems described by partial differential equations. Based on a variational principle we derive the equations of motion as well as the boundary conditions in the well-known…
Boundary controlled irreversible port-Hamiltonian systems (BC-IPHS) on 1-dimensional spatial domains are defined by extending the formulation of reversible BC-PHS to irreversible thermodynamic systems controlled at the boundaries of their…
In this contribution we present how to obtain explicit state space models in port-Hamiltonian form when a mixed finite element method is applied to a linear mechanical system with non-uniform boundary conditions. The key is to express the…