Interconnection Of port-Hamiltonian Systems Research Articles

New insights in the geometry and interconnection of port-Hamiltonian systems

We discuss a new geometric construction of port-Hamiltonian systems. Using this framework, we revisit the notion of interconnection providing it with an intrinsic description. Special emphasis on theoretical and applied examples is given throughout the paper to show the applicability and the novel contributions of the proposed framework.

Reduced order LQG control design for port Hamiltonian systems

The aim of this paper is to propose a reduced order control design method for large scale port Hamiltonian systems. To this end, a structure preserving reduction method and a modified LQG control design are combined to derive a reduced order model suitable for control purposes. We first recall the structure preserving reduction method for port Hamiltonian systems called effort constraint method and characterize the error bound associated to this reduction method. We then give sufficient conditions for non-standard LQG design which allow to design a passive controller equivalent to the control by interconnection of port Hamiltonian systems. This LQG method allows to define an LQG balanced realization by computing the LQG Gramians, the effort-constraint method is then used to derive a reduced order port Hamiltonian system and to design a reduced order passive LQG controller. Finally, the method is illustrated in simulation on a mass–spring–damper system. The performances of the reduced order controller are compared to the results obtained with a full order passive LQG controller.

Asymptotic stabilization via control by interconnection of port-Hamiltonian systems

We study the asymptotic properties of control by interconnection, a passivity-based controller design methodology for stabilization of port-Hamiltonian systems. It is well-known that the method, in its basic form, imposes some unnatural controller initialization to yield asymptotic stability of the desired equilibrium. We propose two different ways to overcome this restriction, one based on adaptation ideas, and the other one adding an extra damping injection to the controller. The analysis and design principles are illustrated through an academic example.