Passivity-Based Control with Guaranteed Safety via Interconnection and Damping Assignment

Interconnection and Damping Assignment Passivity-Based Control: A Survey

Interconnection and damping assignment passivitybased control is a technique that regulates the behavior of non-linear systems assigning a desired (portcontrolled Hamiltonian) structure to the closed-loop. Since the introduction of this controller design methodology five years ago, many theoretical extensions and practical applications have been reported in the literature. The theoretical devel...

Interconnection and Damping Assignment Passivity--Based Control of the Pendubot

In this paper, we apply the interconnection and damping assignment passivity—based control design technique to the underactuated mechanical system called pendubot. The proposed control system drives a class of pendubot systems to the upward configuration, starting from a neighborhood of this configuration. Simulation results show the performance of the proposed control system.

Simultaneous Interconnection and Damping Assignment Passivity-based Control of Mechanical Systems Using Generalized Forces

To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity–based control (IDA–PBC) of mechanical systems two modifications to the standard method are presented in this article. First, similarly to [1], it is proposed to avoid the splitting of the control action into energy–shaping and damping injection terms, but instead ...

Interconnection and Damping Assignment - Passivity Based Control of Irreversible Port Hamiltonian Systems

Irreversible port Hamiltonian systems are a class of pseudo Hamiltonian systems that expresses both the conservation of energy and the irreversible entropy production as a structural property. These systems encompass a large class of irreversible themordynamic systems, such as heat exchangers and chemical reactors, and also multi-energy systems such as coupled mechanicthermodynamic systems. In ...

Simultaneous interconnection and damping assignment passivity-based control: the induction machine case study