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Discrete-time IDA-PBC design for separable Hamiltonian systems

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
Zitek, Pavel
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Astolfi, Alessandro
3045f9a9-e8f3-4f19-9f5d-08364de75cdb
Zitek, Pavel

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. pp. 539-544 . (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

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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: 25 Nov 2019 20:48

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