Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation
This work addresses the problem of integral control for non-passive outputs in port-Hamiltonian systems, offering a solution that retains physical interpretability for control engineers.
The paper presents a method for adding integral action to non-passive outputs of port-Hamiltonian systems without coordinate transformation, enabling disturbance rejection and output regulation while preserving the port-Hamiltonian structure.
In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic extension, constructed from the open loop system, such that the closed loop preserves the port-Hamiltonian form. It is shown that the controller is able to reject the effects of both matched and unmatched disturbances, preserving the regulation of the non-passive outputs. Previous solutions to this problem have relied on a change of coordinates whereas the presented solution is developed using the original state vector and, therefore, retains its physical interpretation. In addition, the resulting closed loop dynamics have a natural interpretation as a Control by Interconnection scheme.