Robust PI Passivity-based Control of Nonlinear Systems: Application to Port-Hamiltonian Systems and Temperature Regulation

摘要

This paper deals with the problem of control of partially known nonlinearsystems, which have an open-loop stable equilibrium, but we would like to add aPI controller to regulate its behavior around another operating point. Our maincontribution is the identification of a class of systems for which a globallystable PI can be designed knowing only the systems input matrix and measuringonly the actuated coordinates. The construction of the PI is done invokingpassivity theory. The difficulties encountered in the design of adaptive PIcontrollers with the existing theoretical tools are also discussed. As anillustration of the theory, we consider port--Hamiltonian systems and a classof thermal processes.