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标题：New results on PID passivity-based controllers for port-Hamiltonian systems
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作者：Pablo Borja ; Romeo Ortega ; Emmanuel Nuño 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：3
页码：175-180
DOI：10.1016/j.ifacol.2018.06.049
语种：English
出版社：Elsevier
摘要：AbstractIn this note we study the problem of stabilizationof port-Hamiltonian(pH) systems via proportional-integral-derivative passivity-based controllers (PID-PBC). Using a general parameterization of the passive outputs for pH systems, we give necessary conditions to construct PID-PBCs and carry-out the stability analysis of the desired equilibrium point in closed-loop. The main results are the inclusion of additional degrees of freedom for the solution of the partial differential equation that is necessary to complete the controller design and the novel construction of PID-PBCs using passive outputs withrelative degree zero.
关键词：KeywordsPassivity-based controlport-Hamiltonian systemsstabilizationnonlinear systems