Port-Hamiltonian modeling and control of a micro-channel experimental plant

We present a port-Hamiltonian system (PHS) model based on the interconnection between
basic hydraulic elements equivalent to electrical components such as capacitors, inductors, and resistors
to represent the dynamics of a water micro-channel experimental plant. We compare the fluid-structured
interconnected PHS model with the data obtained from a micro-channel experimental plant. We then
implement a controller using the total hydraulic-mechanical energy as a local Lyapunov function. Finally,
we apply an integral action controller (IAC) to correct for modeling errors and load disturbances. The IAC
is easy to design given the proposed interconnected model.