We address the discrete-time passivity-based control laws synthesis within port-Hamiltonian framework. We focus on IDA-PBC design for canonical port-Hamiltonian systems with separable energy being quadratic in momentum. For this class of systems, we define a discrete Hamiltonian dynamics that exactly satisfies a discrete energy balance. We then derive a discrete controller following the IDA-PBC...

The desire for energy independence presupposes the use of various types elements generation from renewable sources, stand-alone operation which storage devices are required. A power complex created in this way must perform a number tasks that formed by management system. control system performs these and ensures proper static dynamic characteristics with many inputs outputs. results recent worl...

This article deals with the robust stability analysis and passivity of uncertain discrete-time TakagiSugeno (T-S) fuzzy systems with time delays. The T-S fuzzy model with parametric uncertainties can approximate nonlinear uncertain systems at any precision. A sufficient condition on the existence of robust passive controller is established based on the Lyapunov stability theory. With the help o...

We propose a novel combination of haptic data reduction with the control architecture of the time domain passivity approach (TDPA) in teleoperation systems for dealing with time-varying delay. The sampling rate of haptic data is typically 1kHz for stability and transparency reasons. This high packet rate as well as the additional data overhead becomes a critical factor for data transmission in ...

in this paper, a robust pid control scheme is proposed for micro-electro-mechanical-systems(mems) optical switches. the proposed approach is designed in a way which solves twochallenging and important problems. the first one is successful reference tracking and the second ismitigating the system nonlinearities. the overall system composed of nonlinear mems dynamicsand the pid controller is prov...

We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control problem is formulated to find point-to point trajectories maximizing the amount of energy regenerated and stored in the capacitor. The optimization problem, it...