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

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.