Integral action controllers for port Hamiltonian systems with disturbances

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• Alejandro Donaire, University of Newcastle, Australia
• Tuesday 18 June 2019, 14:00-15:00
• 1109B (CAP seminar room) .

If you have a question about this talk, please contact Giordano Scarciotti.

Abstract: Integral actions have been widely used to compensate for the effect of disturbances and modelling errors. However, sometimes these practical designs are not supported by a theoretical framework that ensures stability properties of the closed loop. In this talk, we will discuss various methods to design integral actions for port-Hamiltonian systems. In the port-Hamiltonian framework, integral actions of the passive output can be easily added into the feedback loop without major difficulties. However, the design of integral controllers becomes more involved when the integral action of an output that is not necessarily passive is required, and also when the effect of matched and unmatched disturbances is considered. In the first part of the talk, we will focus on the design of integral actions of passive outputs, and will also discuss its limitations in mechanical systems. In the second part of the talk, we will present two methods to design integral actions of outputs that are not necessarily passive for port-Hamiltonian systems with matched and unmatched disturbances. We will illustrate the application of these control designs on mechanical and electromechanical systems.

Biography: Alejandro Donaire received the Electronic Engineering and PhD degrees in 2003 and 2009, respectively, from the National University of Rosario, Argentina. In 2009, he joined the Centre for Complex Dynamic Systems and Control at The University of Newcastle, Australia. From 2015 to March 2017 he was with the PRISMA Lab at the University of Naples Federico II. In 2017, he joined the Institute for Future Environments, School of Electrical Engineering and Computer Science, Queensland University of Technology, Australia. Since 2019, he is with the School of Engineering, The University of Newcastle, Australia, where he conducts his academic activities. His research interests include nonlinear and energy-based control theory with application to mechanical systems, marine and aerospace systems, robotics and mechatronics, electrical drives, multi-agent systems, and power systems.

This talk is part of the Control and Power Seminars series.

This talk is included in these lists:

• 1109B (CAP seminar room)
• Andrea Picciau's list
• Control and Power Seminars

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