Optimality of passivity-based controls for distributed port-Hamiltonian systems

Abstract

This paper discusses the (inverse) optimality and practical usage of passivity-based controls for distributed port-Hamiltonian systems. We first clarify that passivity-based controls, damping assignment and potential shaping can be derived from a linear quadratic type optimal control problem. Next, we describe the limitation of passivity-based boundary controls and propose a practical usage of the methods in terms of discretization. Finally, we illustrate numerical results having a similar property to the strain feedback methods derived from semigroup theory for stabilizing and stiffness controlling flexible beams.