Input disturbance suppression for port-Hamiltonian systems: an internal model approach

Gentili, Luca, Paoli, Andrea and Bonivento, Claudio (2007) Input disturbance suppression for port-Hamiltonian systems: an internal model approach. In: Advances in control theory and applications. Lecture Notes in Control and Information Sciences, 353 . Springer, pp. 85-98. ISBN 354070700X, 9783540707004

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Item Type:Book Section
Item Status:Live Archive


In this paper an internal model based approach to periodic input disturbance suppression for port-Hamiltonian systems is presented; more specifically, an adaptive solution able to deal with unknown periodic signal belonging to a given class is introduced. After an introductive section, the adaptive internal model design procedure is presented in order to solve the input disturbance problem. This theoretical machinery is specialized for the energy-based port-Hamiltonian framework in order to prove the global asymptotical stability of the solution. Finally, in order to clearly point out the effectiveness of the presented design procedure a tracking problem is solved for a robotic manipulator affected by torque ripples. © Springer-Verlag Berlin Heidelberg 2007.

Keywords:Control engineering, Systems theory
Subjects:H Engineering > H660 Control Systems
Divisions:College of Science > School of Engineering
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ID Code:15880
Deposited On:20 Aug 2015 08:29

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