A Lyapunov Approach to Robust Regulation of Distributed Port-Hamiltonian Systems

• 成果类型: Article
• 署名作者: Paunonen, Lassi; Le Gorrec, Yann; Ramirez, Hector
• 署名单位: Tampere University; Centre National de la Recherche Scientifique (CNRS); Universite Marie et Louis Pasteur; Universite de Technologie de Belfort-Montbeliard (UTBM); Universidad Tecnica Federico Santa Maria
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3069679
• 发表日期: 2021
• 页码: 6041-6048
• 关键词: Regulation; Mathematical model; control systems; stability analysis; Closed loop systems; impedance; Random access memory; Boundary control system; Controller design; distributed Port-Hamiltonian system (PHS); robust output regulation

摘要

This article studies robust output tracking and disturbance rejection for boundary-controlled infinite-dimensional Port-Hamiltonian systems including second-order models such as the Euler-Bernoulli beam equation. The control design is achieved using the internal model principle and the stability analysis using a Lyapunov approach. Contrary to existing works on the same topic, no assumption is made on the external well-posedness of the considered class of PDEs. The results are applied to robust tracking of a piezo actuated tube used in atomic force imaging.