Related papers: Port-Hamiltonian nonlinear systems
The metriplectic formalism couples Poisson brackets of the Hamiltonian description with metric brackets for describing systems with both Hamiltonian and dissipative components. The construction builds in asymptotic convergence to a…
Stability and stabilization of linear port-Hamiltonian systems on infinite-dimensional spaces are investigated. This class is general enough to include models of beams and waves as well as transport and Schr\"odinger equations with boundary…
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…
We establish well-posedness results for non-autonomous semilinear input-output systems, the central assumption being the scattering-passivity of the considered semilinear system. We consider both systems with distributed control and…
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…
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…
In this paper we design discrete port-Hamiltonian systems systematically in two different ways, by applying discrete gradient methods and splitting methods respectively. The discrete port-Hamiltonian systems we get satisfy a discrete notion…
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…
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…
An interacting lattice model describing the subspace spanned by a set of strongly-correlated bands is rigorously coupled to density functional theory to enable ab initio calculations of geometric and topological material properties. The…
This paper deals with the optimal control of systems governed by nonlinear systems of conservation laws at junctions. The applications considered range from gas compressors in pipelines to open channels management. The existence of an…
This paper considers systems subject to nonholonomic constraints which are not uniform on the whole configuration manifold. When the constraints change, the system undergoes a transition in order to comply with the new imposed conditions.…
We characterize the well-posedness of a class of infinite-dimensional port-Hamiltonian systems with boundary control and observation. This class includes in particular the Euler-Bernoulli beam equations and more generally 1D linear…
We propose a framework for suboptimal model predictive control (MPC) based on the interconnection of monotone dynamical systems, such as port-Hamiltonian systems. In contrast to classical MPC formulations, where the optimizer is treated as…
The ability to predict trajectories of surrounding agents and obstacles is a crucial component in many robotic applications. Data-driven approaches are commonly adopted for state prediction in scenarios where the underlying dynamics are…
Switching physical systems are ubiquitous in modern control applications, for instance, locomotion behavior of robots and animals, power converters with switches and diodes. The dynamics and switching conditions are often hard to obtain or…
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…
Metriplectic dynamics couple a Poisson bracket of the Hamiltonian description with a kind of metric bracket, for describing systems with both Hamiltonian and dissipative components. The construction builds in asymptotic convergence to a…
Formulations of open physical systems within the framework of Non-Equilibrium Reversible/Irreversible Coupling (associated with the acronym "GENERIC") is related in this work with state-space realizations that are given as boundary…
Port-Hamiltonian (pH) systems are a very important modeling tool in almost all areas of systems and control, in particular in network based model of multi-physics multi-scale systems. They lead to remarkably robust models that can be easily…