Abstract
AbstractThis paper considers observer and damping feedback design for control affine systems that admit an approximate dissipative Hamiltonian realization. The approach consists in constructing a locally-defined dissipative potential function by homotopy decomposition of a differential one-form associated to the system drift vector field. Under a condition on the obtained potential function convexity, a coordinate transformation is then defined such that the original system can be approximated by a dissipative Hamiltonian system with a constant structure. Using the approximate dissipative Hamiltonian realization, damping control and observer design are then carried, and the limitations associated to the approximation are discussed. Application to a predator-prey system is presented to illustrate the construction.
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