Solution of matching equations of IDA-PBC by Pfaffian differential equations

TL;DR

This paper presents a method to solve the matching equations in IDA-PBC by transforming them into Pfaffian differential equations, simplifying the solution process and demonstrating its effectiveness on benchmark systems.

Contribution

It introduces a novel approach to solve IDA-PBC matching equations using Pfaffian differential equations, facilitating controller design.

Findings

Solution simplifies the matching equations in IDA-PBC.

Method verified on Magnetic levitation, Pendubot, and cable-driven robot.

Effective in practical control system applications.

Abstract

Finding the general solution of partial differential equations (PDEs) is essential for controller design in newly developed methods. Interconnection and damping assignment passivity based control (IDA-PBC) is one of such methods in which the solution to corresponding PDEs which are called matching equations, is needed to apply it in practice. In this paper, these matching equations are transformed to corresponding Pfaffian differential equations. Furthermore, it is shown that upon satisfaction of the integrability condition, the solution to the corresponding third-order Pfaffian differential equation may be obtained quite easily. The method is applied to the PDEs of IDA-PBC in some benchmark systems such as Magnetic levitation system, Pendubot, and underactuated cable driven robot to verify its applicability.