On distributed port-hamiltonian process systems

Distributed-Parameter Port-Hamiltonian Systems

Port-Hamiltonian Systems on Graphs

In this paper we present a unifying geometric and compositional framework for modeling complex physical network dynamics as portHamiltonian systems on open graphs. Basic idea is to associate with the incidence matrix of the graph a Dirac structure relating the flow and effort variables associated to the edges, internal vertices, as well as boundary vertices of the graph, and to formulate energy...

Discrete port-Hamiltonian systems

Either from a control theoretic viewpoint or from an analysis viewpoint it is necessary to convert smooth systems to discrete systems, which can then be implemented on computers for numerical simulations. Discrete models can be obtained either by discretizing a smooth model, or by directly modeling at the discrete level itself. One of the goals of this paper is to model port-Hamiltonian systems...

Optimality of Passivity-Based Controls for Distributed Port-Hamiltonian Systems

This paper discusses the (inverse) optimality and practical usage of passivitybased controls for distributed port-Hamiltonian systems. We first clarify that passivity-based controls, damping assignment and potential shaping can be derived from a linear quadratic type optimal control problem. Next, we describe the limitation of passivity-based boundary controls and propose a practical usage of t...

Energy-Based Control of Spatially-Discretized Distributed Port-Hamiltonian Systems

The main contribution of this paper is a procedure for the control by energy shaping of high-order port-Hamiltonian systems obtained from the spatial discretization of infinite dimensional dynamics. Beside the intrinsic difficulties related to the large number of state variables, the finite element model is generally given in terms of a Dirac structure and is completely a-causal, which implies ...