Boundary detection of variational symmetry breaking using port-representation of conservation laws

This paper discusses three practical strategies introduced from the basic concept of boundary observers. Firstly, we present a particular case of a shaping conservation law. The shaping is basically achieved by a distributed control input. However, we can realize a boundary control shaping if an input satisfies a matching condition. Secondly, we show the boundary observer is not influenced by the geometrical complexity of dynamical flows having critical points. After this investigation, we define a method for partitioning an input/output boundary of field port-Lagrangian systems. Thirdly, we propose a compensation of dissipative energies to adjust the above methods based on conservation laws to actual systems with dissipation. Finally, we experiment with a soft actuator, an IPMC [9] to demonstrate the results of these methods.