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Discrete IDA-PBC control law for Newtonian mechanical port-Hamiltonian systems

Aoues, Saïd and Eberard, Damien and Marquis-Favre, Wilfrid Discrete IDA-PBC control law for Newtonian mechanical port-Hamiltonian systems. (2016) In: 54th IEEE Conference on Decision and Control (CDC), 15 December 2015 - 18 December 2015 (Osaka, Japan).

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Official URL: http://doi.org/10.1109/CDC.2015.7402904


This paper deals with the stability of discrete closed-loop dynamics arising from digital IDA-PBC controller design. This work concerns the class of Newtonian mechanical port-Hamiltonian systems (PHSs), that is those having separable energy being quadrating in momentum (with constant mass matrix). We first introduce a discretization scheme which ensures a passivity equation relatively to the same storage and dissipation functions as the continuous-time PHS. A discrete controller is then obtained following the IDA-PBC design procedure applied to the discrete PHS system. This method guarantees that, from an energetic viewpoint, the discrete closed-loop behavior is similar to the continuous one. Under zero-state observability assumption, closed-loop stability then follows from LaSalle principle. The method is illustrated on an inertia wheel pendulum model.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : https://ieeexplore.ieee.org/document/7402904 “© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Other partners > Institut National des Sciences Appliquées de Lyon - INSA (FRANCE)
Other partners > Université de Lyon - UDL (FRANCE)
Laboratory name:
ANR Hamecmopsys
Deposited On:13 Nov 2018 10:46

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