A Lyapunov Approach to Robust Regulation of Distributed Port-Hamiltonian Systems
Journal
IEEE Transactions on Automatic Control
Date Issued
2021-12-01
Author(s)
Paunonen, Lassi
Le Gorrec, Yann
Ramírez, Hector Miguel
Departamento de Electrónica
DOI
10.1109/TAC.2021.3069679
Abstract
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.
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.
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