Decentralized PD control for non-uniform motion of a Hamiltonian hybrid system

In this paper,a decentralized proportional-derivative(PD)controller design for non-uniform motion of a Hamiltonian hybrid system is considered.A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Harniltonian systems.A relationship between the parameters of the system and the parameters of the proposed decentralized PD controller is shown to ensure local stability and tracking performance.Simulation results are included to show the obtained non-uniform motion.