Related papers: Linear Boundary Port-Hamiltonian Systems with Impl…
Port-Hamiltonian (PH) systems provide a framework for modeling, analysis and control of complex dynamical systems, where the complexity might result from multi-physical couplings, non-trivial domains and diverse nonlinearities. A major…
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…
Parallel simulation and control of large-scale robotic systems often rely on partitioned time stepping, yet finite-iteration coupling can inject spurious energy by violating power consistency--even when each subsystem is passive. This…
We consider a basic model of a dynamical distribution network, modeled as a directed graph with storage variables corresponding to every vertex and flow inputs corresponding to every edge, subject to unknown but constant inflows and…
This paper recalls a partial differential equations system, which is the linearization of a recognized fluid-elasticity interaction three-dimensional model. A collection of regularity results for the traces of the fluid variable on the…
We generalize the multipole expansion and the structure of the Fax\'en operator in Stokes flows obtained for bodies with no-slip to generic boundary conditions, addressing the assumptions under which this generalization is conceivable. We…
In this letter, we study the energy-optimal control of nonlinear port-Hamiltonian (pH) systems in discrete time. For continuous-time pH systems, energy-optimal control problems are strictly dissipative by design. This property, stating that…
This paper addresses the regulation and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then,…
In this article we study the possibilities of recovering the structure of port-Hamiltonian systems starting from ``unlabelled'' ordinary differential equations describing mechanical systems. The algorithm we suggest solves the problem in…
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…
We consider networks of infinite-dimensional port-Hamiltonian systems $\mathfrak{S}_i$ on one-dimensional spatial domains. These subsystems of port-Hamiltonian type are interconnected via boundary control and observation and are allowed to…
Applying techniques originally developed for systems lacking a variational structure, we establish conditions for the existence of solutions in systems that possess this property but their energy functional is unbounded both lower and…
We study the geometric structure of the drift dynamics of Irreversible port-Hamiltonian systems. This drift dynamics is defined with respect to a product of quasi-Poisson brackets, reflecting the interconnection structure and the…
World models built on recurrent state space architectures enable efficient latent imagination, yet remain physically unstructured, producing dynamics that violate conservation and dissipative principles. We introduce a unified…
We present a novel extension of Hamiltonian mechanics to nonconservative systems built upon the Schwinger-Keldysh-Galley double-variable action principle. Departing from Galley's initial-value action, we clarify important subtleties…
We construct Hamiltonians for systems of nonrelativistic particles linearly coupled to massive scalar bosons using abstract boundary conditions. The construction yields an explicit characterisation of the domain of self-adjointness in terms…
We study $H_\infty$ control design for linear time-invariant port-Hamiltonian systems. By a modification of the two central algebraic Riccati equations, we ensure that the resulting controller will be port-Hamiltonian. Using these modified…
Port-Hamiltonian systems (PHS) and interconnection and damping assignment passivity-based control (IDA-PBC) have achieved broad success in modelling and stabilisation of physical systems. However, the absence of a dedicated scalar potential…
Recently, a new family of integrators (Hamiltonian Boundary ValueMethods) has been introduced, which is able to precisely conserve the energy function of polynomial Hamiltonian systems and to provide a practical conservation of the energy…
The modeling framework of port-Hamiltonian descriptor systems and their use in numerical simulation and control are discussed. The structure is ideal for automated network-based modeling since it is invariant under power-conserving…