Port-Hamiltonian modelling and energy-based control of the Timoshenko beam |
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Authors: | Andreas Siuka Markus Sch?berl Kurt Schlacher |
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Affiliation: | 1. Institute of Automatic Control and Control Systems Technology, Altenberger Str. 69, 4040, Linz, Austria
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Abstract: | This contribution deals with the port-Hamiltonian modelling and energy-based control of infinite-dimensional mechanical systems. Motivated by the physical interpretation offered by the port-controlled Hamiltonian system class in the finite-dimensional case, we analyse an extension of this framework to the infinite-dimensional scenario on the basis of the so-called evolutionary approach which is used for the port-Hamiltonian formulation of flexible beams modelled according to the Timoshenko theory. Furthermore, we adapt the well-known control via structural invariants method with respect to the presented port-Hamiltonian description such that this method is applied to the boundary control of the Timoshenko beam. |
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