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arXiv · 1906.03867

A Lyapunov Approach to Robust Regulation of Distributed Port-Hamiltonian Systems

Lassi Paunonen·Yann Le Gorrec·Héctor Ramírez
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Abstract

This paper studies robust output tracking and disturbance rejection for boundary controlled infinite-dimensional port--Hamiltonian systems including second order models such as the Euler--Bernoulli beam. The control design is achieved using the internal model principle and the stability analysis using a Lyapunov approach. Contrary to existing works on the same topic no assumption is made on the external well-posedness of the considered class of PDEs. The results are applied to robust tracking of a piezo actuated tube used in atomic force imaging.

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Lassi Paunonen, Yann Le Gorrec, Héctor Ramírez. 2019-06-10. A Lyapunov Approach to Robust Regulation of Distributed Port-Hamiltonian Systems. https://doi.org/10.1109/tac.2021.3069679

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