Robust integral action of port-Hamiltonian systems

TL;DR

This paper introduces a robust control method for port-Hamiltonian systems stabilized by IDA-PBC, incorporating integral action to handle constant disturbances and uncertainties in damping.

Contribution

It extends existing IDA-PBC techniques by making the control robust against damping uncertainties through integral action.

Findings

Successfully stabilizes systems with unknown damping.

Enhances robustness against constant disturbances.

Extends previous IDA-PBC methods.

Abstract

Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has been stabilised using IDA-PBC with respect to constant, matched disturbances via the addition of integral action. The proposed controller extends previous work on the topic by being robust against the damping of the system, a quantity which may not be known in many applications.