IDA-PBC for LTI dynamics under input delays: a reduction approach

Mattia Mattioni (1) , Salvatore Monaco (1) , Dorothée Normand-Cyrot (2)

1 DIAG UNIROMA - Dipartimento di Ingegneria informatica automatica e gestionale [Roma]
2 L2S - Laboratoire des signaux et systèmes

In this paper, the problem of stabilizing linear port-controlled Hamiltonian dynamics through interconnection and damping assignment in presence of input delays is considered. The contribution exploits the reduction approach allowing to reveal and shape the energy properties of the time-delay dynamics. Performances are illustrated on a simple mechanical system.

Mots clés: Linear systems; Delay systems; Energy systems

Domaines: Automatique / Robotique

Mattia Mattioni, Salvatore Monaco, Dorothée Normand-Cyrot. IDA-PBC for LTI dynamics under input delays: a reduction approach. IEEE Control Systems Letters, 2020, ⟨10.1109/LCSYS.2020.3040076⟩. ⟨hal-03020691⟩