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arXiv · 2104.09329

Energy-based Control and Observer Design for higher-order infinite-dimensional Port-Hamiltonian Systems

Tobias Malzer·Lukas Ecker·Markus Schöberl
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Abstract

In this paper, we present a control-design method based on the energy-Casimir method for infinite-dimensional, boundary-actuated port-Hamiltonian systems with two-dimensional spatial domain and second-order Hamiltonian. The resulting control law depends on distributed system states that cannot be measured, and therefore, we additionally design an infinite-dimensional observer by exploiting the port-Hamiltonian system representation. A Kirchhoff-Love plate serves as an example in order to demonstrate the proposed approaches.

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Tobias Malzer, Lukas Ecker, Markus Schöberl. 2021-04-19. Energy-based Control and Observer Design for higher-order infinite-dimensional Port-Hamiltonian Systems. https://doi.org/10.1016/j.ifacol.2021.11.053

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