ORCID
- Pablo Borja: 0000-0001-7744-0846
Abstract
Interconnection and damping assignment (IDA) is a popular passivity-based control (PBC) technique. This nonlinear control approach has proven suitable for stabilizing a wide range of systems. However, like many other nonlinear control techniques, implementing the IDA-PBC approach is often hampered by the necessity of solving partial differential equations (PDEs). This paper studies systems for which the solutions to these equations are always guaranteed, and closed-form solutions are known. To this end, we provide straightforwardly verifiable conditions over the open-loop system such that IDA-PBC can be applied without solving PDEs.
DOI
10.1109/control60310.2024.10532055
Publication Date
2024-04-10
Publication Title
2024 UKACC 14th International Conference on Control, CONTROL 2024
ISBN
9798350374261
First Page
131
Last Page
136
Recommended Citation
Borja, P. (2024) 'Interconnection and Damping Assignment Passivity-Based Control Without Partial Differential Equations', 2024 UKACC 14th International Conference on Control, CONTROL 2024, , pp. 131-136. Available at: https://doi.org/10.1109/control60310.2024.10532055
