A port-Hamiltonian approach to modeling the structural dynamics of complex systems

With this contribution, we give a complete and comprehensive framework for modeling the dynamics of complex mechanical structures as port-Hamiltonian systems. This is motivated by research on potential lightweight construction using active load-bearing elements integrated into structure. Such adaptive are high complexity very heterogeneous in nature. Port-Hamiltonian systems theory provides promising approach their control. Subsystem can be formulated domain-independent way interconnected means power flows. The modular also suitable robust decentralized control schemes. Starting from distributed-parameter formulation beam dynamics, show application an existing structure-preserving mixed finite element method to arrive at finite-dimensional approximations. In contrast single bodies with boundary, consider composed many simple boundary. analogous usual civil engineering which has not been transferred before. A block diagram representation used generate coupling constraints leads differential algebraic equations index one. After elimination constraints, input-state-output(ISO) form obtained. system models considered class constructed mass stiffness matrices obtained via conventional methods. We how relates presented discuss differences, promoting better understanding across disciplines.