Abstract
The generalization of Hamiltonian systems with dissipation in combination with the port-concept leads directly to the class of port-controlled Hamiltonian systems with dissipation, or PCHD-systems for short, which are appropriate for modeling and control of nonlinear mechatronic systeme. By the help of the structural properties of PCHD-systems it is in general possible to show passivity and to prove stability of the closed loop, if the closed loop system is represented by a PCHD-system. Combining passive system with ideas from the flatness-based feedforward control, one is able to achieve excellent tracking performance and disturbance rejection at the same time.
| Translated title of the contribution | The port-concept for modeling and control of complex dynamical systems |
|---|---|
| Original language | German (Austria) |
| Pages (from-to) | 294-300 |
| Number of pages | 7 |
| Journal | e&i Elektrotechnik und Informationstechnik |
| Volume | 121 |
| Issue number | 9 |
| DOIs | |
| Publication status | Published - Sept 2004 |
Fields of science
- 101028 Mathematical modelling
- 202 Electrical Engineering, Electronics, Information Engineering
- 202003 Automation
- 202017 Embedded systems
- 202027 Mechatronics
- 202034 Control engineering
- 203015 Mechatronics