Related papers: Port-Hamiltonian Control and Structure-Preserving …
A recent paper by Huang et al. [Computer Physics Communications 207, 123 (2016)] thoroughly analyzed the Finite Grid Instability(FGI) and spectral fidelity of standard Particle-In-Cell (PIC) methods. Numerical experiments were carried out…
A prevailing trend in the stabilization of port-Hamiltonian systems is the assumption that the plant and the controller are both passive. In the standard approach of control by interconnection based on the generation of Casimir functions,…
A fluid-structure interaction model in a port-Hamiltonian representation is derived for a classical guitar. We combine the laws of continuum mechanics for solids and fluids within a unified port-Hamiltonian (pH) modeling approach by…
Passivity-based control ensures system stability by leveraging dissipative properties and is widely applied in electrical and mechanical systems. Port-Hamiltonian systems (PHS), in particular, are well-suited for interconnection and damping…
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…
The design of an observer-based state feedback (OBSF) controller with guaranteed passivity properties for port-Hamiltonian systems (PHS) is addressed using linear matrix inequalities (LMIs). The observer gain is freely chosen and the LMIs…
This paper deals with the problem of control of partially known nonlinear systems, which have an open-loop stable equilibrium, but we would like to add a PI controller to regulate its behavior around another operating point. Our main…
We present a gradient-based identification algorithm to identify the system matrices of a linear port-Hamiltonian system from given input-output time data. Aiming for a direct structure-preserving approach, we employ techniques from optimal…
Voltage and frequency control in an islanded AC microgrid (ImGs) amount to stabilizing an a priori unknown ImG equilibrium induced by loads and changes in topology. This paper puts forth a unified control framework which, while guaranteeing…
In this note, we consider port-Hamiltonian structures in numerical optimal control of ordinary differential equations. By introducing a novel class of nonlinear monotone port-Hamiltonian (pH) systems, we show that the primal-dual gradient…
We present a novel physics-informed system identification method to construct a passive linear time-invariant system. In more detail, for a given quadratic energy functional, measurements of the input, state, and output of a system in the…
We study the structure-preserving space discretization of port-Hamiltonian (pH) systems defined with differential constitutive relations. Using the concept of Stokes-Lagrange structure to describe these relations, these are reduced to a…
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 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…
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…
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…
In this paper, we present finite-dimensional port-Hamiltonian system (PHS) models of a gas pipeline and a network comprising several pipelines for the purpose of control design and stability analysis. Starting from the partial differential…
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,…
It is well known that any port-Hamiltonian (pH) system is passive, and conversely, any minimal and stable passive system has a pH representation. Nevertheless, this equivalence is only concerned with the input-output mapping but not with…
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…