Related papers: A behavioural approach to port-controlled systems
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…
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…
In this work we propose a family of trajectory tracking controllers for marine craft in the port-Hamiltonian (pH) framework using virtual differential passivity based control (v-dPBC). Two pH models of marine craft are considered, one in a…
We develop a physics-informed learning framework for energy-shaping control of port-Hamiltonian (pH) systems from trajectory data. The proposed approach co-learns a pH system model and an optimal energy-balancing passivity-based controller…
There is a lack of formalism for some key foundational concepts in systems engineering. One of the most recently acknowledged deficits is the inadequacy of systems engineering practices for engineering intelligent systems. In our previous…
It is well known that linear and non-linear dissipative port-Hamiltonian systems in finite dimensions admit an energy balance, relating the energy increase in the system with the supplied energy and the dissipated energy. The integrand in…
We consider differential operators $A$ that can be represented by means of a so-called closure relation in terms of a simpler operator $A_{\operatorname{ext}}$ defined on a larger space. We analyze how the spectral properties of $A$ and…
The structure of continuous Hopfield networks is revisited from a system-theoretic point of view. After adopting a novel electrical network interpretation involving nonlinear capacitors, it is shown that Hopfield networks admit a…
We examine interpolatory model reduction methods that are well-suited for treating large scale port-Hamiltonian differential-algebraic systems in a way that is able to preserve and indeed, take advantage of the underlying structural…
We revisit the behavioral approach to systems theory and make explicit the abstract pattern that governs it. Our end goal is to use that pattern to understand interaction-related phenomena that emerge when systems interact. Rather than…
Dissipative quantum systems are sometimes phenomenologically described in terms of a non-hermitian hamiltonian $H$, with different left and right eigenvectors forming a bi-orthogonal basis. It is shown that the dynamics of waves in open…
In this paper, we consider Hamiltonian structures of hydrodynamic type and some of their generalizations. In particular, we discuss the questions concerning the structure and special forms of the corresponding Poisson brackets and the…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
We extend our earlier work on the compositional structure of cybernetic systems in order to account for the embodiment of such systems. All their interactions proceed through their bodies' boundaries: sensations impinge on their surfaces,…
Large-scale cyber-physical systems require that control policies are distributed, that is, that they only rely on local real-time measurements and communication with neighboring agents. Optimal Distributed Control (ODC) problems are,…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
The relationship between different dissipativity concepts for linear time-varying systems is studied, in particular between port-Hamiltonian systems, passive systems, and systems with nonnegative supply. It is shown that linear time-varying…
This paper formulates a framework for the analysis and distributed control of interconnected systems from the behavioural perspective. The discussions are carried out from the viewpoint of set theory and the results are completely…
We discuss a class of linear control problems in a Hilbert space setting. This class encompasses such diverse systems as port-Hamiltonian systems, Maxwell's equations with boundary control or the acoustic equations with boundary control and…
Discrete gradient methods are a powerful tool for the time discretization of dynamical systems, since they are structure-preserving regardless of the form of the total energy. In this work, we discuss the application of discrete gradient…