Abstract
This work deals with systems whose dynamics are affine in the control input. Such dynamics are considered to be significantly differentially expressed in a canonical form, namely the quadratic (pseudo) port-Hamiltonian representation, in order to explore further some structural properties usable for the tracking-error passivity-based control design. Different kinds of linear and nonlinear engineering systems including an open isothermal homogeneous system and a continuous biochemical fermenter are used to illustrate the approach.
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