相关论文: Finding the nearest bounded-real port-Hamiltonian …

We present a new fixed-order H-infinity controller design method for potentially large-scale port-Hamiltonian (pH) plants. Our method computes controllers that are also pH (and thus passive) such that the resulting closed-loop systems is…

Time-parallel algorithms, such as Parareal, are well-understood for linear problems, but their convergence analysis for nonlinear, chaotic systems remains limited. This paper introduces a new theoretical framework for analysing…

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…

We address modeling and control of a gate access automation system. A model of the mechatronic system is derived and identified. Then an approximate explicit feedback linearization scheme is proposed, which ensures almost linear response…

The relationships between port-Hamiltonian systems modeling and the notion of monotonicity are explored. The earlier introduced notion of incrementally port-Hamiltonian systems is extended to maximal cyclically monotone relations, together…

For a given a normally hyperbolic invariant manifold, whose stable and unstable manifolds intersect transversally, we consider several tools and techniques to detect trajectories with prescribed itineraries: the scattering map, the…

Verification of temporal logic properties plays a crucial role in proving the desired behaviors of hybrid systems. In this paper, we propose an interval method for verifying the properties described by a bounded linear temporal logic. We…

We develop an optimization-based algorithm for parametric model order reduction (PMOR) of linear time-invariant dynamical systems. Our method aims at minimizing the $\mathcal{H}_\infty \otimes \mathcal{L}_\infty$ approximation error in the…

When computing the eigenstructure of matrix pencils associated with the passivity analysis of perturbed port-Hamiltonian descriptor system using a structured generalized eigenvalue method, one should make sure that the computed spectrum…

We propose an open-boundary molecular dynamics method in which an atomistic system is in contact with an infinite particle reservoir at constant temperature, volume and chemical potential. In practice, following the Hamiltonian adaptive…

This paper studies coefficient-level, structure-preserving output-feedback stabilization of linear port-Hamiltonian (pH) descriptor systems. Existing stabilization conditions generally require explicit pH representations, which may be…

This paper presents a two-stage framework for constrained near-optimal feedback control of input-affine nonlinear systems. An approximate value function for the unconstrained control problem is computed offline by solving the…

There are four variants of passive, linear time-invariant systems, described by rational functions: Continuous or Discrete time, Positive or Bounded real. By introducing a quadratic matrix inequality formulation, we present a unifying…

Parameterized systems of polynomial equations arise in many applications in science and engineering with the real solutions describing, for example, equilibria of a dynamical system, linkages satisfying design constraints, and scene…

An in-domain finite dimensional controller for a class of distributed parameter systems on a one-dimensional spatial domain formulated under the port-Hamiltonian framework is presented. Based on [25] where positive feedback and a late…

We develop two local energy methods for distributed parameter port-Hamiltonian (pH) systems on one-dimensional spatial domains. The methods are applied to derive a characterization of exponential stability directly in terms of the energy…

To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…

We consider the singular optimal control problem of minimizing the energy supply of linear dissipative port-Hamiltonian descriptor systems subject to control and terminal state constraints. To this end, after reducing the problem to an ODE…

In this manuscript, we present a mixed finite element discretization for a class of boundary-damped anisotropic port-Hamiltonian systems. Using a multiplier method, we demonstrate that the resulting approximation model uniformly preserves…

We revisit the linear programming approach to deterministic, continuous time, infinite horizon discounted optimal control problems. In the first part, we relax the original problem to an infinite-dimensional linear program over a measure…