Port-Hamiltonian Modeling for Control

Arjan van der Schaft*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

Abstract

This article provides a concise summary of the basic ideas and concepts in port-Hamiltonian systems theory and its use in analysis and control of complex multiphysics systems. It gives special attention to new and unexplored research directions and relations with other mathematical frameworks. Emergent control paradigms and open problems are indicated, including the relation with thermodynamics and the question of uniting the energy-processing view of control, as emphasized by port-Hamiltonian systems theory, with a complementary information-processing viewpoint.

Original languageEnglish
Title of host publicationAnnual Review of Control, Robotics, and Autonomous Systems
EditorsN. E. Leonard
PublisherAnnual Reviews
Pages393-416
Number of pages24
DOIs
Publication statusPublished - 2020

Publication series

NameAnnual Review of Control Robotics and Autonomous Systems
PublisherAnnual Reviews
Volume3
ISSN (Print)2573-5144

Keywords

  • multiphysics systems
  • Hamiltonian systems
  • network modeling
  • Dirac structures
  • passivity
  • compositionality
  • control by interconnection
  • impedance
  • gradient systems
  • algebraic constraints
  • PASSIVITY-BASED CONTROL
  • SYSTEMS
  • INTERCONNECTION
  • FORMULATION

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