A limit set stabilization by means of the Port Hamiltonian system approach |
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| Authors: | Carlos Aguilar‐Ibañez Julio A Mendoza‐Mendoza Juan C Martinez Jose de Jesus Rubio Miguel S Suarez‐Castanon |
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| Affiliation: | 1. CIC ‐ IPN, Av. Juan de Dios Bátiz s/n, U.P.A.L.M, Col. San Pedro Zacatenco, A.P. 75476, Mexico;2. Department of Automatic Control ‐ CINVESTAV, Mexico;3. SEPI ‐ ESIME ‐ IPN, Mexico;4. Escuela Superior de Cómputo ‐ IPN, Mexico |
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| Abstract: | A solution to the stabilization problem of a compact set by means of the Interconnection and Damping Assignment Passivity‐Based Control methodology, for an affine nonlinear system, was introduced. To this end, we expressed the closed‐loop system as a Port Hamiltonian system, having the property of almost all their trajectories asymptotically converge to a convenient limit set, except for a set of measure zero. It was carried out by solving a partial differential equation (PDE) or single matching condition, which allows the desired energy level or limit set E to be shaped explicitly. The control strategy was tested using the magnetic beam balance system and the pendulum actuated by a direct current motor (DC‐motor), having obtained satisfactory results. Copyright © 2014 John Wiley & Sons, Ltd. |
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| Keywords: | IDA‐PBC methodology Port Hamiltonian system stabilization problem nonlinear control |
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