Abstract
In this contribution the application of local linear dynamics assignment for the parametrization of nonlinear passivity based setpoint-control of a double-acting hydraulic cylinder is presented. The focus is on the systematic derivation of the stabilizing nonlinear state feedback control law using Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) such that desired predefined local linear dynamics of the closed loop system is realized exploiting the maximum initial design freedom provided by constant interconnection and dissipation matrices. The paper provides a step-by-step approach to find the IDA-PBC controller for the hydraulic system applying a series of simple algebraic manipulations and is complemented by experimental results on a hydraulic actuator as a part of a quarter-car testrig.
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