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

Abstract

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.