2008/12/01 by Romeo Ortega, Roméo Ortega, Arjan van der Schaft +3 · 336 citations
Biochemistry, Genetics and Molecular Biology · Engineering · Mathematics · #ATP Synthase and ATPases Research #Artificial intelligence #Computer science #Control (management) #Control and Stability of Dynamical Systems #Control engineering #Control theory (sociology) #Controller (irrigation) #Dissipation #Electrical engineering #Engineering #Hamiltonian (control theory) #Interconnection #Mathematical optimization #Mathematics #Passivity #Physics #Quantum mechanics #Telecommunications
paper · open access · doi:10.1109/tac.2008.2006930
published in IEEE Transactions on Automatic Control 53(11), 2527-2542 (Institute of Electrical and Electronics Engineers)
openalex publication_date 2008/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/01
The dynamics of many physical processes can be suitably described by Port-Hamiltonian (PH) models, where the importance of the energy function, the interconnection pattern and the dissipation of the system is underscored. To regulate the behavior of PH systems it is natural to adopt a Passivity-Based Control (PBC) perspective, where the control objectives are achieved shaping the energy function and adding dissipation. In this paper we consider the PBC techniques of Control by Interconnection (CbI) and Standard PBC. InCbIthe controller is another PH system connected to the plant (through a power-preserving interconnection) to add up their energy functions, while in Standard PBC energy shaping is achieved via static state feedback. In spite of the conceptual appeal of formulating the control problem as the interaction of dynamical systems, the current version ofCbIimposes a severe restriction on the plant dissipation structure that stymies its practical application. On the other hand, Standard PBC, which is usually derived from a uninspiring and non-intuitive ldquopassive output generationrdquo viewpoint, is one of the most successful controller design techniques. The main objectives of this paper are: (1) To extend theCbImethod to make it more widely applicable-in particular, to overcome the aforementioned dissipation obstacle. (2) To show that various popular variants of Standard PBC can be derived proceeding from a unified perspective. (3) To establish the connections betweenCbIand Standard PBC proving that the latter is obtained restricting the former to a suitable subset-providing a nice geometric interpretation to Standard PBC-and comparing the size of the set of PH plants for which they are applicable.