Title :
On the PDEs arising in IDA-PBC
Author :
Acosta, J. Á ; Astolfi, A.
Author_Institution :
Dept. Ing. de Sist. y Autom., Univ. of Seville, Sevilla, Spain
Abstract :
The main stumbling block of most nonlinear control methods is the necessity to solve nonlinear partial differential equations. In this paper we propose a methodology to replace the PDEs of interconnection and damping assignment passivity-based control with algebraic inequalities. The idea relies on the construction of an approximating integral and a dynamic extension as an alternative to solve the PDEs. Some connections with linear control theory and nonlinear cascade control techniques are also provided.
Keywords :
algebra; cascade control; linear systems; nonlinear control systems; partial differential equations; IDA-PBC; PDE; algebraic inequalities; damping assignment passivity-based control; linear control; nonlinear cascade control; nonlinear control; nonlinear partial differential equations; Control systems; Control theory; Damping; Design methodology; Energy storage; Feedback; Mechanical systems; Nonlinear control systems; Nonlinear systems; Partial differential equations;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400580
