Discrete-time IDA-PBC design for separable Hamiltonian systems
Discrete-time IDA-PBC design for separable Hamiltonian systems
We develop a discrete-time counterpart of IDA-PBC design for separable Hamiltonian systems. Euler approximate models are used to obtain the discrete-time control laws, by replacing "differential" in the continuous-time design with "difference" in the discrete-time design. This approach results in a type of discrete-time controller that can be seen as a simple modification of an emulation controller obtained by sample and hold of the continuous-time IDA-PBC controller. However, due to the crucial issue of Hamiltonian conservation in IDA-PBC design, this simple modification, which results in an "almost" Hamiltonian conservation in discrete-time, yields a significant improvement to the performance of the sampled-data control system
978-3-902661-75-3
539-544
International Federation of Automatic Control
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Astolfi, Alessandro
3045f9a9-e8f3-4f19-9f5d-08364de75cdb
July 2005
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Astolfi, Alessandro
3045f9a9-e8f3-4f19-9f5d-08364de75cdb
Laila, Dina Shona and Astolfi, Alessandro
(2005)
Discrete-time IDA-PBC design for separable Hamiltonian systems.
Zitek, Pavel
(ed.)
In Proceedings of the 16th IFAC World Congress.
International Federation of Automatic Control.
.
(doi:10.3182/20050703-6-CZ-1902.00540).
Record type:
Conference or Workshop Item
(Paper)
Abstract
We develop a discrete-time counterpart of IDA-PBC design for separable Hamiltonian systems. Euler approximate models are used to obtain the discrete-time control laws, by replacing "differential" in the continuous-time design with "difference" in the discrete-time design. This approach results in a type of discrete-time controller that can be seen as a simple modification of an emulation controller obtained by sample and hold of the continuous-time IDA-PBC controller. However, due to the crucial issue of Hamiltonian conservation in IDA-PBC design, this simple modification, which results in an "almost" Hamiltonian conservation in discrete-time, yields a significant improvement to the performance of the sampled-data control system
More information
Published date: July 2005
Venue - Dates:
16th IFAC World Congress, 2005-07-04 - 2005-07-08
Organisations:
Mechatronics
Identifiers
Local EPrints ID: 353758
URI: http://eprints.soton.ac.uk/id/eprint/353758
ISBN: 978-3-902661-75-3
PURE UUID: a27fa2e5-67f4-4356-a351-b434ff2d96f7
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Date deposited: 17 Jun 2013 13:28
Last modified: 14 Mar 2024 14:09
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Contributors
Author:
Dina Shona Laila
Author:
Alessandro Astolfi
Editor:
Pavel Zitek
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