Robust integral action of port-Hamiltonian systems
نویسندگان
چکیده
Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has been stabilised using IDA-PBC with respect to constant, matched disturbances via the addition of integral action. The proposed controller extends previous work on the topic by being robust against the damping of the system, a quantity which may not be known in many applications.
منابع مشابه
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عنوان ژورنال:
- CoRR
دوره abs/1801.06279 شماره
صفحات -
تاریخ انتشار 2018