On structural invariants in the energy based control of port-Hamiltonian systems with second-order Hamiltonian

摘要

This paper deals with the energy based control of infinite-dimensional port-Hamiltonian systems, by exploiting structural invariants-so-called Casimir functionals-of the closed loop system. We confine ourselves to port-Hamiltonian systems, modeled within a jet-space approach, with one dimensional spatial domain and 2nd-order Hamiltonian. Therefore, the concept of structural invariants is extended from systems with 1st-order Hamiltonian to systems with 2nd-order Hamiltonian. To demonstrate the capability of this closed loop control methodology, a boundary controlled Euler-Bernoulli beam is used. Finally, simulation results conclude the paper.