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标题：Robust integral action of port-Hamiltonian systems
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作者：Joel Ferguson ; Alejandro Donaire ; Romeo Ortega 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：181-186
DOI：10.1016/j.ifacol.2018.06.050
语种：English
出版社：Elsevier
摘要：AbstractInterconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has been stabilised using IDA-PBC with respect to constant, matched disturbances via the addition of integral action. The proposed controller extends previous work on the topic by being robust against uncertainty in the damping structure of the system, a quantity which may not be known in many applications.
关键词：KeywordsDisturbance rejectionLagrangian and Hamiltonian systemsRobust control applicationsPassivity-based control