Das Tor-Konzept für die Modellierung und Regelung komplexer dynamischer Systeme

The generalization of Hamiltonian systems with dissipation in combination with the port-concept leads directly to the class of port-controlled Hamiltonian systems with dissipation, or PCHD-systems for short, which are appropriate for modeling and control of nonlinear mechatronic systems. By the help of the structural properties of PCHD-systems it is in general possible to show passivity and to prove stability of the closed loop, if the closed loop system is represented by a PCHD-system. Combining passive systems with ideas from the flatness-based feedforward control, one is able to achieve excellent tracking performance and disturbance rejection at the same time.