Robust integral action of port-Hamiltonian systems
It addresses the practical problem of unknown damping in nonlinear control, extending prior robust integral action methods to a more realistic setting.
This paper proposes a method to add integral action to port-Hamiltonian systems stabilized by IDA-PBC, making them robust against constant matched disturbances even when the system damping is unknown.
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.