STABILITY AND ROBUSTNESS OF DISTURBED-PORT CONTROLLED HAMILTONIAN SYSTEMS WITH DISSIPATION

Abstract

A recent approach of Passivity-Based Control (PBC) is the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) which is a very useful technique to control systems assigning a desired Port-Controlled Hamiltonian (PCH) structure to the closed-loop. IDA-PBC provides sometimes control laws that are complicated and/or need all state measurement. In this paper, Disturbed-PCHD systems are considered where IDA-PBC is applied. Two sufficient stability conditions on the disturbances are given. Moreover, this approach allows to study controller robustness against parameters uncertainties. This new approach simplify the control law and allows to deal with unmeasured terms. Application of this new approach to the control of the voltage-fed Induction Machine (IM) is presented.