PID Passivity-Based Control of Nonlinear Systems with Applications:
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| Main Author: | |
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| Format: | Electronic eBook |
| Language: | English |
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Newark
John Wiley & Sons, Incorporated
2021
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| Item Description: | Description based on publisher supplied metadata and other sources |
| Physical Description: | 1 Online-Ressource (243 Seiten) |
| ISBN: | 9781119694199 9781119694175 |
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MARC
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| 245 | 1 | 0 | |a PID Passivity-Based Control of Nonlinear Systems with Applications |c Romeo Ortega, José Guadalupe Romero, Pablo Borja, Alejandro Donaire |
| 264 | 1 | |a Newark |b John Wiley & Sons, Incorporated |c 2021 | |
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| 505 | 8 | |a Cover -- Title Page -- Copyright -- Contents -- Author Biographies -- Preface -- Acknowledgments -- Acronyms -- Notation -- Chapter 1 Introduction -- Chapter 2 Motivation and Basic Construction of PID Passivity‐Based Control -- 2.1 ℒ2‐Stability and Output Regulation to Zero -- 2.2 Well‐Posedness Conditions -- 2.3 PID‐PBC and the Dissipation Obstacle -- 2.3.1 Passive Systems and the Dissipation Obstacle -- 2.3.2 Steady‐State Operation and the Dissipation Obstacle -- 2.4 PI‐PBC with y0 and Control by Interconnection -- Bibliography -- Chapter 3 Use of Passivity for Analysis and Tuning of PIDs: Two Practical Examples -- 3.1 Tuning of the PI Gains for Control of Induction Motors -- 3.1.1 Problem Formulation -- 3.1.2 Change of Coordinates -- 3.1.3 Tuning Rules and Performance Intervals -- 3.1.4 Concluding Remarks -- 3.2 PI‐PBC of a Fuel Cell System -- 3.2.1 Control Problem Formulation -- 3.2.2 Limitations of Current Controllers and the Role of Passivity -- 3.2.3 Model Linearization and Useful Properties -- 3.2.4 Main Result -- 3.2.5 An Asymptotically Stable PI‐PBC -- 3.2.6 Simulation Results -- 3.2.7 Concluding Remarks and Future Work -- Bibliography -- Chapter 4 PID‐PBC for Nonzero Regulated Output Reference -- 4.1 PI‐PBC for Global Tracking -- 4.1.1 PI Global Tracking Problem -- 4.1.2 Construction of a Shifted Passive Output -- 4.1.3 A PI Global Tracking Controller -- 4.2 Conditions for Shifted Passivity of General Nonlinear Systems -- 4.2.1 Shifted Passivity Definition -- 4.2.2 Main Results -- 4.3 Conditions for Shifted Passivity of Port‐Hamiltonian Systems -- 4.3.1 Problems Formulation -- 4.3.2 Shifted Passivity -- 4.3.3 Shifted Passifiability via Output‐Feedback -- 4.3.4 Stability of the Forced Equilibria -- 4.3.5 Application to Quadratic pH Systems -- 4.4 PI‐PBC of Power Converters -- 4.4.1 Model of the Power Converters | |
| 505 | 8 | |a 4.4.2 Construction of a Shifted Passive Output -- 4.4.3 PI Stabilization -- 4.4.4 Application to a Quadratic Boost Converter -- 4.5 PI‐PBC of HVDC Power Systems -- 4.5.1 Background -- 4.5.2 Port‐Hamiltonian Model of the System -- 4.5.3 Main Result -- 4.5.4 Relation of PI‐PBC with Akagi's PQ Method -- 4.6 PI‐PBC of Wind Energy Systems -- 4.6.1 Background -- 4.6.2 System Model -- 4.6.3 Control Problem Formulation -- 4.6.4 Proposed PI‐PBC -- 4.7 Shifted Passivity of PI‐Controlled Permanent Magnet Synchronous Motors -- 4.7.1 Background -- 4.7.2 Motor Models -- 4.7.3 Problem Formulation -- 4.7.4 Main Result -- 4.7.5 Conclusions and Future Research -- Bibliography -- Chapter 5 Parameterization of All Passive Outputs for Port‐Hamiltonian Systems -- 5.1 Parameterization of All Passive Outputs -- 5.2 Some Particular Cases -- 5.3 Two Additional Remarks -- 5.4 Examples -- 5.4.1 A Level Control System -- 5.4.2 A Microelectromechanical Optical Switch -- Bibliography -- Chapter 6 Lyapunov Stabilization of Port‐Hamiltonian Systems -- 6.1 Generation of Lyapunov Functions -- 6.1.1 Basic PDE -- 6.1.2 Lyapunov Stability Analysis -- 6.2 Explicit Solution of the PDE -- 6.2.1 The Power Shaping Output -- 6.2.2 A More General Solution -- 6.2.3 On the Use of Multipliers -- 6.3 Derivative Action on Relative Degree Zero Outputs -- 6.3.1 Preservation of the Port‐Hamiltonian Structure of I‐PBC -- 6.3.2 Projection of the New Passive Output -- 6.3.3 Lyapunov Stabilization with the New PID‐PBC -- 6.4 Examples -- 6.4.1 A Microelectromechanical Optical Switch (Continued) -- 6.4.2 Boost Converter -- 6.4.3 Two‐Dimensional Controllable LTI Systems -- 6.4.4 Control by Interconnection vs. PI‐PBC -- 6.4.5 The Use of the Derivative Action -- Bibliography -- Chapter 7 Underactuated Mechanical Systems -- 7.1 Historical Review and Chapter Contents | |
| 505 | 8 | |a 7.1.1 Potential Energy Shaping of Fully Actuated Systems -- 7.1.2 Total Energy Shaping of Underactuated Systems -- 7.1.3 Two Formulations of PID‐PBC -- 7.2 Shaping the Energy with a PID -- 7.3 PID‐PBC of Port‐Hamiltonian Systems -- 7.3.1 Assumptions on the System -- 7.3.2 A Suitable Change of Coordinates -- 7.3.3 Generating New Passive Outputs -- 7.3.4 Projection of the Total Storage Function -- 7.3.5 Main Stability Result -- 7.4 PID‐PBC of Euler‐Lagrange Systems -- 7.4.1 Passive Outputs for Euler-Lagrange Systems -- 7.4.2 Passive Outputs for Euler-Lagrange Systems in Spong's Normal Form -- 7.5 Extensions -- 7.5.1 Tracking Constant Speed Trajectories -- 7.5.2 Removing the Cancellation of Va(qa) -- 7.5.3 Enlarging the Class of Integral Actions -- 7.6 Examples -- 7.6.1 Tracking for Inverted Pendulum on a Cart -- 7.6.2 Cart‐Pendulum on an Inclined Plane -- 7.7 PID‐PBC of Constrained Euler-Lagrange Systems -- 7.7.1 System Model and Problem Formulation -- 7.7.2 Reduced Purely Differential Model -- 7.7.3 Design of the PID‐PBC -- 7.7.4 Main Stability Result -- 7.7.5 Simulation Results -- 7.7.6 Experimental Results -- Bibliography -- Chapter 8 Disturbance Rejection in Port‐Hamiltonian Systems -- 8.1 Some Remarks on Notation and Assignable Equilibria -- 8.1.1 Notational Simplifications -- 8.1.2 Assignable Equilibria for Constant d -- 8.2 Integral Action on the Passive Output -- 8.3 Solution Using Coordinate Changes -- 8.3.1 A Feedback Equivalence Problem -- 8.3.2 Local Solutions of the Feedback Equivalent Problem -- 8.3.3 Stability of the Closed‐Loop -- 8.4 Solution Using Nonseparable Energy Functions -- 8.4.1 Matched and Unmatched Disturbances -- 8.4.2 Robust Matched Disturbance Rejection -- 8.5 Robust Integral Action for Fully Actuated Mechanical Systems -- 8.6 Robust Integral Action for Underactuated Mechanical Systems | |
| 505 | 8 | |a 8.6.1 Standard Interconnection and Damping Assignment PBC -- 8.6.2 Main Result -- 8.7 A New Robust Integral Action for Underactuated Mechanical Systems -- 8.7.1 System Model -- 8.7.2 Coordinate Transformation -- 8.7.3 Verification of Requisites -- 8.7.4 Robust Integral Action Controller -- 8.8 Examples -- 8.8.1 Mechanical Systems with Constant Inertia Matrix -- 8.8.2 Prismatic Robot -- 8.8.3 The Acrobot System -- 8.8.4 Disk on Disk System -- 8.8.5 Damped Vertical Take‐off and Landing Aircraft -- Bibliography -- Appendix A Passivity and Stability Theory for State‐Space Systems -- A.1 Characterization of Passive Systems -- A.2 Passivity Theorem -- A.3 Lyapunov Stability of Passive Systems -- Bibliography -- Appendix B Two Stability Results and Assignable Equilibria -- B.1 Two Stability Results -- B.2 Assignable Equilibria -- Bibliography -- Appendix C Some Differential Geometric Results -- C.1 Invariant Manifolds -- C.2 Gradient Vector Fields -- C.3 A Technical Lemma -- Bibliography -- Appendix D Port-Hamiltonian Systems -- D.1 Definition of Port‐Hamiltonian Systems and Passivity Property -- D.2 Physical Examples -- D.2.1 Mechanical Systems -- D.2.2 Electromechanical Systems -- D.2.3 Power Converters -- D.3 Euler-Lagrange Models -- D.4 Port‐Hamiltonian Representation of GAS Systems -- Bibliography -- Index -- EULA. | |
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| author | Ortega, Romeo 1954- |
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| bvnumber | BV048228646 |
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| contents | Cover -- Title Page -- Copyright -- Contents -- Author Biographies -- Preface -- Acknowledgments -- Acronyms -- Notation -- Chapter 1 Introduction -- Chapter 2 Motivation and Basic Construction of PID Passivity‐Based Control -- 2.1 ℒ2‐Stability and Output Regulation to Zero -- 2.2 Well‐Posedness Conditions -- 2.3 PID‐PBC and the Dissipation Obstacle -- 2.3.1 Passive Systems and the Dissipation Obstacle -- 2.3.2 Steady‐State Operation and the Dissipation Obstacle -- 2.4 PI‐PBC with y0 and Control by Interconnection -- Bibliography -- Chapter 3 Use of Passivity for Analysis and Tuning of PIDs: Two Practical Examples -- 3.1 Tuning of the PI Gains for Control of Induction Motors -- 3.1.1 Problem Formulation -- 3.1.2 Change of Coordinates -- 3.1.3 Tuning Rules and Performance Intervals -- 3.1.4 Concluding Remarks -- 3.2 PI‐PBC of a Fuel Cell System -- 3.2.1 Control Problem Formulation -- 3.2.2 Limitations of Current Controllers and the Role of Passivity -- 3.2.3 Model Linearization and Useful Properties -- 3.2.4 Main Result -- 3.2.5 An Asymptotically Stable PI‐PBC -- 3.2.6 Simulation Results -- 3.2.7 Concluding Remarks and Future Work -- Bibliography -- Chapter 4 PID‐PBC for Nonzero Regulated Output Reference -- 4.1 PI‐PBC for Global Tracking -- 4.1.1 PI Global Tracking Problem -- 4.1.2 Construction of a Shifted Passive Output -- 4.1.3 A PI Global Tracking Controller -- 4.2 Conditions for Shifted Passivity of General Nonlinear Systems -- 4.2.1 Shifted Passivity Definition -- 4.2.2 Main Results -- 4.3 Conditions for Shifted Passivity of Port‐Hamiltonian Systems -- 4.3.1 Problems Formulation -- 4.3.2 Shifted Passivity -- 4.3.3 Shifted Passifiability via Output‐Feedback -- 4.3.4 Stability of the Forced Equilibria -- 4.3.5 Application to Quadratic pH Systems -- 4.4 PI‐PBC of Power Converters -- 4.4.1 Model of the Power Converters 4.4.2 Construction of a Shifted Passive Output -- 4.4.3 PI Stabilization -- 4.4.4 Application to a Quadratic Boost Converter -- 4.5 PI‐PBC of HVDC Power Systems -- 4.5.1 Background -- 4.5.2 Port‐Hamiltonian Model of the System -- 4.5.3 Main Result -- 4.5.4 Relation of PI‐PBC with Akagi's PQ Method -- 4.6 PI‐PBC of Wind Energy Systems -- 4.6.1 Background -- 4.6.2 System Model -- 4.6.3 Control Problem Formulation -- 4.6.4 Proposed PI‐PBC -- 4.7 Shifted Passivity of PI‐Controlled Permanent Magnet Synchronous Motors -- 4.7.1 Background -- 4.7.2 Motor Models -- 4.7.3 Problem Formulation -- 4.7.4 Main Result -- 4.7.5 Conclusions and Future Research -- Bibliography -- Chapter 5 Parameterization of All Passive Outputs for Port‐Hamiltonian Systems -- 5.1 Parameterization of All Passive Outputs -- 5.2 Some Particular Cases -- 5.3 Two Additional Remarks -- 5.4 Examples -- 5.4.1 A Level Control System -- 5.4.2 A Microelectromechanical Optical Switch -- Bibliography -- Chapter 6 Lyapunov Stabilization of Port‐Hamiltonian Systems -- 6.1 Generation of Lyapunov Functions -- 6.1.1 Basic PDE -- 6.1.2 Lyapunov Stability Analysis -- 6.2 Explicit Solution of the PDE -- 6.2.1 The Power Shaping Output -- 6.2.2 A More General Solution -- 6.2.3 On the Use of Multipliers -- 6.3 Derivative Action on Relative Degree Zero Outputs -- 6.3.1 Preservation of the Port‐Hamiltonian Structure of I‐PBC -- 6.3.2 Projection of the New Passive Output -- 6.3.3 Lyapunov Stabilization with the New PID‐PBC -- 6.4 Examples -- 6.4.1 A Microelectromechanical Optical Switch (Continued) -- 6.4.2 Boost Converter -- 6.4.3 Two‐Dimensional Controllable LTI Systems -- 6.4.4 Control by Interconnection vs. PI‐PBC -- 6.4.5 The Use of the Derivative Action -- Bibliography -- Chapter 7 Underactuated Mechanical Systems -- 7.1 Historical Review and Chapter Contents 7.1.1 Potential Energy Shaping of Fully Actuated Systems -- 7.1.2 Total Energy Shaping of Underactuated Systems -- 7.1.3 Two Formulations of PID‐PBC -- 7.2 Shaping the Energy with a PID -- 7.3 PID‐PBC of Port‐Hamiltonian Systems -- 7.3.1 Assumptions on the System -- 7.3.2 A Suitable Change of Coordinates -- 7.3.3 Generating New Passive Outputs -- 7.3.4 Projection of the Total Storage Function -- 7.3.5 Main Stability Result -- 7.4 PID‐PBC of Euler‐Lagrange Systems -- 7.4.1 Passive Outputs for Euler-Lagrange Systems -- 7.4.2 Passive Outputs for Euler-Lagrange Systems in Spong's Normal Form -- 7.5 Extensions -- 7.5.1 Tracking Constant Speed Trajectories -- 7.5.2 Removing the Cancellation of Va(qa) -- 7.5.3 Enlarging the Class of Integral Actions -- 7.6 Examples -- 7.6.1 Tracking for Inverted Pendulum on a Cart -- 7.6.2 Cart‐Pendulum on an Inclined Plane -- 7.7 PID‐PBC of Constrained Euler-Lagrange Systems -- 7.7.1 System Model and Problem Formulation -- 7.7.2 Reduced Purely Differential Model -- 7.7.3 Design of the PID‐PBC -- 7.7.4 Main Stability Result -- 7.7.5 Simulation Results -- 7.7.6 Experimental Results -- Bibliography -- Chapter 8 Disturbance Rejection in Port‐Hamiltonian Systems -- 8.1 Some Remarks on Notation and Assignable Equilibria -- 8.1.1 Notational Simplifications -- 8.1.2 Assignable Equilibria for Constant d -- 8.2 Integral Action on the Passive Output -- 8.3 Solution Using Coordinate Changes -- 8.3.1 A Feedback Equivalence Problem -- 8.3.2 Local Solutions of the Feedback Equivalent Problem -- 8.3.3 Stability of the Closed‐Loop -- 8.4 Solution Using Nonseparable Energy Functions -- 8.4.1 Matched and Unmatched Disturbances -- 8.4.2 Robust Matched Disturbance Rejection -- 8.5 Robust Integral Action for Fully Actuated Mechanical Systems -- 8.6 Robust Integral Action for Underactuated Mechanical Systems 8.6.1 Standard Interconnection and Damping Assignment PBC -- 8.6.2 Main Result -- 8.7 A New Robust Integral Action for Underactuated Mechanical Systems -- 8.7.1 System Model -- 8.7.2 Coordinate Transformation -- 8.7.3 Verification of Requisites -- 8.7.4 Robust Integral Action Controller -- 8.8 Examples -- 8.8.1 Mechanical Systems with Constant Inertia Matrix -- 8.8.2 Prismatic Robot -- 8.8.3 The Acrobot System -- 8.8.4 Disk on Disk System -- 8.8.5 Damped Vertical Take‐off and Landing Aircraft -- Bibliography -- Appendix A Passivity and Stability Theory for State‐Space Systems -- A.1 Characterization of Passive Systems -- A.2 Passivity Theorem -- A.3 Lyapunov Stability of Passive Systems -- Bibliography -- Appendix B Two Stability Results and Assignable Equilibria -- B.1 Two Stability Results -- B.2 Assignable Equilibria -- Bibliography -- Appendix C Some Differential Geometric Results -- C.1 Invariant Manifolds -- C.2 Gradient Vector Fields -- C.3 A Technical Lemma -- Bibliography -- Appendix D Port-Hamiltonian Systems -- D.1 Definition of Port‐Hamiltonian Systems and Passivity Property -- D.2 Physical Examples -- D.2.1 Mechanical Systems -- D.2.2 Electromechanical Systems -- D.2.3 Power Converters -- D.3 Euler-Lagrange Models -- D.4 Port‐Hamiltonian Representation of GAS Systems -- Bibliography -- Index -- EULA. |
| ctrlnum | (ZDB-30-PQE)EBC6715204 (ZDB-30-PAD)EBC6715204 (ZDB-89-EBL)EBL6715204 (OCoLC)1266908513 (DE-599)BVBBV048228646 |
| dewey-full | 629.836 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.836 |
| dewey-search | 629.836 |
| dewey-sort | 3629.836 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Electronic eBook |
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code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">Description based on publisher supplied metadata and other sources</subfield></datafield><datafield tag="505" ind1="8" ind2=" "><subfield code="a">Cover -- Title Page -- Copyright -- Contents -- Author Biographies -- Preface -- Acknowledgments -- Acronyms -- Notation -- Chapter 1 Introduction -- Chapter 2 Motivation and Basic Construction of PID Passivity‐Based Control -- 2.1 ℒ2‐Stability and Output Regulation to Zero -- 2.2 Well‐Posedness Conditions -- 2.3 PID‐PBC and the Dissipation Obstacle -- 2.3.1 Passive Systems and the Dissipation Obstacle -- 2.3.2 Steady‐State Operation and the Dissipation Obstacle -- 2.4 PI‐PBC with y0 and Control by Interconnection -- Bibliography -- Chapter 3 Use of Passivity for Analysis and Tuning of PIDs: Two Practical Examples -- 3.1 Tuning of the PI Gains for Control of Induction Motors -- 3.1.1 Problem Formulation -- 3.1.2 Change of Coordinates -- 3.1.3 Tuning Rules and Performance Intervals -- 3.1.4 Concluding Remarks -- 3.2 PI‐PBC of a Fuel Cell System -- 3.2.1 Control Problem Formulation -- 3.2.2 Limitations of Current Controllers and the Role of Passivity -- 3.2.3 Model Linearization and Useful Properties -- 3.2.4 Main Result -- 3.2.5 An Asymptotically Stable PI‐PBC -- 3.2.6 Simulation Results -- 3.2.7 Concluding Remarks and Future Work -- Bibliography -- Chapter 4 PID‐PBC for Nonzero Regulated Output Reference -- 4.1 PI‐PBC for Global Tracking -- 4.1.1 PI Global Tracking Problem -- 4.1.2 Construction of a Shifted Passive Output -- 4.1.3 A PI Global Tracking Controller -- 4.2 Conditions for Shifted Passivity of General Nonlinear Systems -- 4.2.1 Shifted Passivity Definition -- 4.2.2 Main Results -- 4.3 Conditions for Shifted Passivity of Port‐Hamiltonian Systems -- 4.3.1 Problems Formulation -- 4.3.2 Shifted Passivity -- 4.3.3 Shifted Passifiability via Output‐Feedback -- 4.3.4 Stability of the Forced Equilibria -- 4.3.5 Application to Quadratic pH Systems -- 4.4 PI‐PBC of Power Converters -- 4.4.1 Model of the Power Converters</subfield></datafield><datafield tag="505" ind1="8" ind2=" "><subfield code="a">4.4.2 Construction of a Shifted Passive Output -- 4.4.3 PI Stabilization -- 4.4.4 Application to a Quadratic Boost Converter -- 4.5 PI‐PBC of HVDC Power Systems -- 4.5.1 Background -- 4.5.2 Port‐Hamiltonian Model of the System -- 4.5.3 Main Result -- 4.5.4 Relation of PI‐PBC with Akagi's PQ Method -- 4.6 PI‐PBC of Wind Energy Systems -- 4.6.1 Background -- 4.6.2 System Model -- 4.6.3 Control Problem Formulation -- 4.6.4 Proposed PI‐PBC -- 4.7 Shifted Passivity of PI‐Controlled Permanent Magnet Synchronous Motors -- 4.7.1 Background -- 4.7.2 Motor Models -- 4.7.3 Problem Formulation -- 4.7.4 Main Result -- 4.7.5 Conclusions and Future Research -- Bibliography -- Chapter 5 Parameterization of All Passive Outputs for Port‐Hamiltonian Systems -- 5.1 Parameterization of All Passive Outputs -- 5.2 Some Particular Cases -- 5.3 Two Additional Remarks -- 5.4 Examples -- 5.4.1 A Level Control System -- 5.4.2 A Microelectromechanical Optical Switch -- Bibliography -- Chapter 6 Lyapunov Stabilization of Port‐Hamiltonian Systems -- 6.1 Generation of Lyapunov Functions -- 6.1.1 Basic PDE -- 6.1.2 Lyapunov Stability Analysis -- 6.2 Explicit Solution of the PDE -- 6.2.1 The Power Shaping Output -- 6.2.2 A More General Solution -- 6.2.3 On the Use of Multipliers -- 6.3 Derivative Action on Relative Degree Zero Outputs -- 6.3.1 Preservation of the Port‐Hamiltonian Structure of I‐PBC -- 6.3.2 Projection of the New Passive Output -- 6.3.3 Lyapunov Stabilization with the New PID‐PBC -- 6.4 Examples -- 6.4.1 A Microelectromechanical Optical Switch (Continued) -- 6.4.2 Boost Converter -- 6.4.3 Two‐Dimensional Controllable LTI Systems -- 6.4.4 Control by Interconnection vs. PI‐PBC -- 6.4.5 The Use of the Derivative Action -- Bibliography -- Chapter 7 Underactuated Mechanical Systems -- 7.1 Historical Review and Chapter Contents</subfield></datafield><datafield tag="505" ind1="8" ind2=" "><subfield code="a">7.1.1 Potential Energy Shaping of Fully Actuated Systems -- 7.1.2 Total Energy Shaping of Underactuated Systems -- 7.1.3 Two Formulations of PID‐PBC -- 7.2 Shaping the Energy with a PID -- 7.3 PID‐PBC of Port‐Hamiltonian Systems -- 7.3.1 Assumptions on the System -- 7.3.2 A Suitable Change of Coordinates -- 7.3.3 Generating New Passive Outputs -- 7.3.4 Projection of the Total Storage Function -- 7.3.5 Main Stability Result -- 7.4 PID‐PBC of Euler‐Lagrange Systems -- 7.4.1 Passive Outputs for Euler-Lagrange Systems -- 7.4.2 Passive Outputs for Euler-Lagrange Systems in Spong's Normal Form -- 7.5 Extensions -- 7.5.1 Tracking Constant Speed Trajectories -- 7.5.2 Removing the Cancellation of Va(qa) -- 7.5.3 Enlarging the Class of Integral Actions -- 7.6 Examples -- 7.6.1 Tracking for Inverted Pendulum on a Cart -- 7.6.2 Cart‐Pendulum on an Inclined Plane -- 7.7 PID‐PBC of Constrained Euler-Lagrange Systems -- 7.7.1 System Model and Problem Formulation -- 7.7.2 Reduced Purely Differential Model -- 7.7.3 Design of the PID‐PBC -- 7.7.4 Main Stability Result -- 7.7.5 Simulation Results -- 7.7.6 Experimental Results -- Bibliography -- Chapter 8 Disturbance Rejection in Port‐Hamiltonian Systems -- 8.1 Some Remarks on Notation and Assignable Equilibria -- 8.1.1 Notational Simplifications -- 8.1.2 Assignable Equilibria for Constant d -- 8.2 Integral Action on the Passive Output -- 8.3 Solution Using Coordinate Changes -- 8.3.1 A Feedback Equivalence Problem -- 8.3.2 Local Solutions of the Feedback Equivalent Problem -- 8.3.3 Stability of the Closed‐Loop -- 8.4 Solution Using Nonseparable Energy Functions -- 8.4.1 Matched and Unmatched Disturbances -- 8.4.2 Robust Matched Disturbance Rejection -- 8.5 Robust Integral Action for Fully Actuated Mechanical Systems -- 8.6 Robust Integral Action for Underactuated Mechanical Systems</subfield></datafield><datafield tag="505" ind1="8" ind2=" "><subfield code="a">8.6.1 Standard Interconnection and Damping Assignment PBC -- 8.6.2 Main Result -- 8.7 A New Robust Integral Action for Underactuated Mechanical Systems -- 8.7.1 System Model -- 8.7.2 Coordinate Transformation -- 8.7.3 Verification of Requisites -- 8.7.4 Robust Integral Action Controller -- 8.8 Examples -- 8.8.1 Mechanical Systems with Constant Inertia Matrix -- 8.8.2 Prismatic Robot -- 8.8.3 The Acrobot System -- 8.8.4 Disk on Disk System -- 8.8.5 Damped Vertical Take‐off and Landing Aircraft -- Bibliography -- Appendix A Passivity and Stability Theory for State‐Space Systems -- A.1 Characterization of Passive Systems -- A.2 Passivity Theorem -- A.3 Lyapunov Stability of Passive Systems -- Bibliography -- Appendix B Two Stability Results and Assignable Equilibria -- B.1 Two Stability Results -- B.2 Assignable Equilibria -- Bibliography -- Appendix C Some Differential Geometric Results -- C.1 Invariant Manifolds -- C.2 Gradient Vector Fields -- C.3 A Technical Lemma -- Bibliography -- Appendix D Port-Hamiltonian Systems -- D.1 Definition of Port‐Hamiltonian Systems and Passivity Property -- D.2 Physical Examples -- D.2.1 Mechanical Systems -- D.2.2 Electromechanical Systems -- D.2.3 Power Converters -- D.3 Euler-Lagrange Models -- D.4 Port‐Hamiltonian Representation of GAS Systems -- Bibliography -- Index -- EULA.</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">PID-Regler</subfield><subfield code="0">(DE-588)4226247-1</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Nichtlineares System</subfield><subfield code="0">(DE-588)4042110-7</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Nichtlineares System</subfield><subfield code="0">(DE-588)4042110-7</subfield><subfield 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| id | DE-604.BV048228646 |
| illustrated | Not Illustrated |
| index_date | 2024-07-03T19:50:52Z |
| indexdate | 2024-07-10T09:32:33Z |
| institution | BVB |
| isbn | 9781119694199 9781119694175 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-033609366 |
| oclc_num | 1266908513 |
| open_access_boolean | |
| owner | DE-83 |
| owner_facet | DE-83 |
| physical | 1 Online-Ressource (243 Seiten) |
| psigel | ZDB-35-WIC ZDB-30-PQE |
| publishDate | 2021 |
| publishDateSearch | 2021 |
| publishDateSort | 2021 |
| publisher | John Wiley & Sons, Incorporated |
| record_format | marc |
| spelling | Ortega, Romeo 1954- Verfasser (DE-588)120106574 aut PID Passivity-Based Control of Nonlinear Systems with Applications Romeo Ortega, José Guadalupe Romero, Pablo Borja, Alejandro Donaire Newark John Wiley & Sons, Incorporated 2021 ©2021 1 Online-Ressource (243 Seiten) txt rdacontent c rdamedia cr rdacarrier Description based on publisher supplied metadata and other sources Cover -- Title Page -- Copyright -- Contents -- Author Biographies -- Preface -- Acknowledgments -- Acronyms -- Notation -- Chapter 1 Introduction -- Chapter 2 Motivation and Basic Construction of PID Passivity‐Based Control -- 2.1 ℒ2‐Stability and Output Regulation to Zero -- 2.2 Well‐Posedness Conditions -- 2.3 PID‐PBC and the Dissipation Obstacle -- 2.3.1 Passive Systems and the Dissipation Obstacle -- 2.3.2 Steady‐State Operation and the Dissipation Obstacle -- 2.4 PI‐PBC with y0 and Control by Interconnection -- Bibliography -- Chapter 3 Use of Passivity for Analysis and Tuning of PIDs: Two Practical Examples -- 3.1 Tuning of the PI Gains for Control of Induction Motors -- 3.1.1 Problem Formulation -- 3.1.2 Change of Coordinates -- 3.1.3 Tuning Rules and Performance Intervals -- 3.1.4 Concluding Remarks -- 3.2 PI‐PBC of a Fuel Cell System -- 3.2.1 Control Problem Formulation -- 3.2.2 Limitations of Current Controllers and the Role of Passivity -- 3.2.3 Model Linearization and Useful Properties -- 3.2.4 Main Result -- 3.2.5 An Asymptotically Stable PI‐PBC -- 3.2.6 Simulation Results -- 3.2.7 Concluding Remarks and Future Work -- Bibliography -- Chapter 4 PID‐PBC for Nonzero Regulated Output Reference -- 4.1 PI‐PBC for Global Tracking -- 4.1.1 PI Global Tracking Problem -- 4.1.2 Construction of a Shifted Passive Output -- 4.1.3 A PI Global Tracking Controller -- 4.2 Conditions for Shifted Passivity of General Nonlinear Systems -- 4.2.1 Shifted Passivity Definition -- 4.2.2 Main Results -- 4.3 Conditions for Shifted Passivity of Port‐Hamiltonian Systems -- 4.3.1 Problems Formulation -- 4.3.2 Shifted Passivity -- 4.3.3 Shifted Passifiability via Output‐Feedback -- 4.3.4 Stability of the Forced Equilibria -- 4.3.5 Application to Quadratic pH Systems -- 4.4 PI‐PBC of Power Converters -- 4.4.1 Model of the Power Converters 4.4.2 Construction of a Shifted Passive Output -- 4.4.3 PI Stabilization -- 4.4.4 Application to a Quadratic Boost Converter -- 4.5 PI‐PBC of HVDC Power Systems -- 4.5.1 Background -- 4.5.2 Port‐Hamiltonian Model of the System -- 4.5.3 Main Result -- 4.5.4 Relation of PI‐PBC with Akagi's PQ Method -- 4.6 PI‐PBC of Wind Energy Systems -- 4.6.1 Background -- 4.6.2 System Model -- 4.6.3 Control Problem Formulation -- 4.6.4 Proposed PI‐PBC -- 4.7 Shifted Passivity of PI‐Controlled Permanent Magnet Synchronous Motors -- 4.7.1 Background -- 4.7.2 Motor Models -- 4.7.3 Problem Formulation -- 4.7.4 Main Result -- 4.7.5 Conclusions and Future Research -- Bibliography -- Chapter 5 Parameterization of All Passive Outputs for Port‐Hamiltonian Systems -- 5.1 Parameterization of All Passive Outputs -- 5.2 Some Particular Cases -- 5.3 Two Additional Remarks -- 5.4 Examples -- 5.4.1 A Level Control System -- 5.4.2 A Microelectromechanical Optical Switch -- Bibliography -- Chapter 6 Lyapunov Stabilization of Port‐Hamiltonian Systems -- 6.1 Generation of Lyapunov Functions -- 6.1.1 Basic PDE -- 6.1.2 Lyapunov Stability Analysis -- 6.2 Explicit Solution of the PDE -- 6.2.1 The Power Shaping Output -- 6.2.2 A More General Solution -- 6.2.3 On the Use of Multipliers -- 6.3 Derivative Action on Relative Degree Zero Outputs -- 6.3.1 Preservation of the Port‐Hamiltonian Structure of I‐PBC -- 6.3.2 Projection of the New Passive Output -- 6.3.3 Lyapunov Stabilization with the New PID‐PBC -- 6.4 Examples -- 6.4.1 A Microelectromechanical Optical Switch (Continued) -- 6.4.2 Boost Converter -- 6.4.3 Two‐Dimensional Controllable LTI Systems -- 6.4.4 Control by Interconnection vs. PI‐PBC -- 6.4.5 The Use of the Derivative Action -- Bibliography -- Chapter 7 Underactuated Mechanical Systems -- 7.1 Historical Review and Chapter Contents 7.1.1 Potential Energy Shaping of Fully Actuated Systems -- 7.1.2 Total Energy Shaping of Underactuated Systems -- 7.1.3 Two Formulations of PID‐PBC -- 7.2 Shaping the Energy with a PID -- 7.3 PID‐PBC of Port‐Hamiltonian Systems -- 7.3.1 Assumptions on the System -- 7.3.2 A Suitable Change of Coordinates -- 7.3.3 Generating New Passive Outputs -- 7.3.4 Projection of the Total Storage Function -- 7.3.5 Main Stability Result -- 7.4 PID‐PBC of Euler‐Lagrange Systems -- 7.4.1 Passive Outputs for Euler-Lagrange Systems -- 7.4.2 Passive Outputs for Euler-Lagrange Systems in Spong's Normal Form -- 7.5 Extensions -- 7.5.1 Tracking Constant Speed Trajectories -- 7.5.2 Removing the Cancellation of Va(qa) -- 7.5.3 Enlarging the Class of Integral Actions -- 7.6 Examples -- 7.6.1 Tracking for Inverted Pendulum on a Cart -- 7.6.2 Cart‐Pendulum on an Inclined Plane -- 7.7 PID‐PBC of Constrained Euler-Lagrange Systems -- 7.7.1 System Model and Problem Formulation -- 7.7.2 Reduced Purely Differential Model -- 7.7.3 Design of the PID‐PBC -- 7.7.4 Main Stability Result -- 7.7.5 Simulation Results -- 7.7.6 Experimental Results -- Bibliography -- Chapter 8 Disturbance Rejection in Port‐Hamiltonian Systems -- 8.1 Some Remarks on Notation and Assignable Equilibria -- 8.1.1 Notational Simplifications -- 8.1.2 Assignable Equilibria for Constant d -- 8.2 Integral Action on the Passive Output -- 8.3 Solution Using Coordinate Changes -- 8.3.1 A Feedback Equivalence Problem -- 8.3.2 Local Solutions of the Feedback Equivalent Problem -- 8.3.3 Stability of the Closed‐Loop -- 8.4 Solution Using Nonseparable Energy Functions -- 8.4.1 Matched and Unmatched Disturbances -- 8.4.2 Robust Matched Disturbance Rejection -- 8.5 Robust Integral Action for Fully Actuated Mechanical Systems -- 8.6 Robust Integral Action for Underactuated Mechanical Systems 8.6.1 Standard Interconnection and Damping Assignment PBC -- 8.6.2 Main Result -- 8.7 A New Robust Integral Action for Underactuated Mechanical Systems -- 8.7.1 System Model -- 8.7.2 Coordinate Transformation -- 8.7.3 Verification of Requisites -- 8.7.4 Robust Integral Action Controller -- 8.8 Examples -- 8.8.1 Mechanical Systems with Constant Inertia Matrix -- 8.8.2 Prismatic Robot -- 8.8.3 The Acrobot System -- 8.8.4 Disk on Disk System -- 8.8.5 Damped Vertical Take‐off and Landing Aircraft -- Bibliography -- Appendix A Passivity and Stability Theory for State‐Space Systems -- A.1 Characterization of Passive Systems -- A.2 Passivity Theorem -- A.3 Lyapunov Stability of Passive Systems -- Bibliography -- Appendix B Two Stability Results and Assignable Equilibria -- B.1 Two Stability Results -- B.2 Assignable Equilibria -- Bibliography -- Appendix C Some Differential Geometric Results -- C.1 Invariant Manifolds -- C.2 Gradient Vector Fields -- C.3 A Technical Lemma -- Bibliography -- Appendix D Port-Hamiltonian Systems -- D.1 Definition of Port‐Hamiltonian Systems and Passivity Property -- D.2 Physical Examples -- D.2.1 Mechanical Systems -- D.2.2 Electromechanical Systems -- D.2.3 Power Converters -- D.3 Euler-Lagrange Models -- D.4 Port‐Hamiltonian Representation of GAS Systems -- Bibliography -- Index -- EULA. PID-Regler (DE-588)4226247-1 gnd rswk-swf Nichtlineares System (DE-588)4042110-7 gnd rswk-swf Nichtlineares System (DE-588)4042110-7 s PID-Regler (DE-588)4226247-1 s DE-604 Romero, José Guadalupe Sonstige oth Borja, Pablo Sonstige oth Donaire, Alejandro Sonstige oth Erscheint auch als Druck-Ausgabe Ortega, Romeo PID Passivity-Based Control of Nonlinear Systems with Applications Newark : John Wiley & Sons, Incorporated,c2021 9781119694168 |
| spellingShingle | Ortega, Romeo 1954- PID Passivity-Based Control of Nonlinear Systems with Applications Cover -- Title Page -- Copyright -- Contents -- Author Biographies -- Preface -- Acknowledgments -- Acronyms -- Notation -- Chapter 1 Introduction -- Chapter 2 Motivation and Basic Construction of PID Passivity‐Based Control -- 2.1 ℒ2‐Stability and Output Regulation to Zero -- 2.2 Well‐Posedness Conditions -- 2.3 PID‐PBC and the Dissipation Obstacle -- 2.3.1 Passive Systems and the Dissipation Obstacle -- 2.3.2 Steady‐State Operation and the Dissipation Obstacle -- 2.4 PI‐PBC with y0 and Control by Interconnection -- Bibliography -- Chapter 3 Use of Passivity for Analysis and Tuning of PIDs: Two Practical Examples -- 3.1 Tuning of the PI Gains for Control of Induction Motors -- 3.1.1 Problem Formulation -- 3.1.2 Change of Coordinates -- 3.1.3 Tuning Rules and Performance Intervals -- 3.1.4 Concluding Remarks -- 3.2 PI‐PBC of a Fuel Cell System -- 3.2.1 Control Problem Formulation -- 3.2.2 Limitations of Current Controllers and the Role of Passivity -- 3.2.3 Model Linearization and Useful Properties -- 3.2.4 Main Result -- 3.2.5 An Asymptotically Stable PI‐PBC -- 3.2.6 Simulation Results -- 3.2.7 Concluding Remarks and Future Work -- Bibliography -- Chapter 4 PID‐PBC for Nonzero Regulated Output Reference -- 4.1 PI‐PBC for Global Tracking -- 4.1.1 PI Global Tracking Problem -- 4.1.2 Construction of a Shifted Passive Output -- 4.1.3 A PI Global Tracking Controller -- 4.2 Conditions for Shifted Passivity of General Nonlinear Systems -- 4.2.1 Shifted Passivity Definition -- 4.2.2 Main Results -- 4.3 Conditions for Shifted Passivity of Port‐Hamiltonian Systems -- 4.3.1 Problems Formulation -- 4.3.2 Shifted Passivity -- 4.3.3 Shifted Passifiability via Output‐Feedback -- 4.3.4 Stability of the Forced Equilibria -- 4.3.5 Application to Quadratic pH Systems -- 4.4 PI‐PBC of Power Converters -- 4.4.1 Model of the Power Converters 4.4.2 Construction of a Shifted Passive Output -- 4.4.3 PI Stabilization -- 4.4.4 Application to a Quadratic Boost Converter -- 4.5 PI‐PBC of HVDC Power Systems -- 4.5.1 Background -- 4.5.2 Port‐Hamiltonian Model of the System -- 4.5.3 Main Result -- 4.5.4 Relation of PI‐PBC with Akagi's PQ Method -- 4.6 PI‐PBC of Wind Energy Systems -- 4.6.1 Background -- 4.6.2 System Model -- 4.6.3 Control Problem Formulation -- 4.6.4 Proposed PI‐PBC -- 4.7 Shifted Passivity of PI‐Controlled Permanent Magnet Synchronous Motors -- 4.7.1 Background -- 4.7.2 Motor Models -- 4.7.3 Problem Formulation -- 4.7.4 Main Result -- 4.7.5 Conclusions and Future Research -- Bibliography -- Chapter 5 Parameterization of All Passive Outputs for Port‐Hamiltonian Systems -- 5.1 Parameterization of All Passive Outputs -- 5.2 Some Particular Cases -- 5.3 Two Additional Remarks -- 5.4 Examples -- 5.4.1 A Level Control System -- 5.4.2 A Microelectromechanical Optical Switch -- Bibliography -- Chapter 6 Lyapunov Stabilization of Port‐Hamiltonian Systems -- 6.1 Generation of Lyapunov Functions -- 6.1.1 Basic PDE -- 6.1.2 Lyapunov Stability Analysis -- 6.2 Explicit Solution of the PDE -- 6.2.1 The Power Shaping Output -- 6.2.2 A More General Solution -- 6.2.3 On the Use of Multipliers -- 6.3 Derivative Action on Relative Degree Zero Outputs -- 6.3.1 Preservation of the Port‐Hamiltonian Structure of I‐PBC -- 6.3.2 Projection of the New Passive Output -- 6.3.3 Lyapunov Stabilization with the New PID‐PBC -- 6.4 Examples -- 6.4.1 A Microelectromechanical Optical Switch (Continued) -- 6.4.2 Boost Converter -- 6.4.3 Two‐Dimensional Controllable LTI Systems -- 6.4.4 Control by Interconnection vs. PI‐PBC -- 6.4.5 The Use of the Derivative Action -- Bibliography -- Chapter 7 Underactuated Mechanical Systems -- 7.1 Historical Review and Chapter Contents 7.1.1 Potential Energy Shaping of Fully Actuated Systems -- 7.1.2 Total Energy Shaping of Underactuated Systems -- 7.1.3 Two Formulations of PID‐PBC -- 7.2 Shaping the Energy with a PID -- 7.3 PID‐PBC of Port‐Hamiltonian Systems -- 7.3.1 Assumptions on the System -- 7.3.2 A Suitable Change of Coordinates -- 7.3.3 Generating New Passive Outputs -- 7.3.4 Projection of the Total Storage Function -- 7.3.5 Main Stability Result -- 7.4 PID‐PBC of Euler‐Lagrange Systems -- 7.4.1 Passive Outputs for Euler-Lagrange Systems -- 7.4.2 Passive Outputs for Euler-Lagrange Systems in Spong's Normal Form -- 7.5 Extensions -- 7.5.1 Tracking Constant Speed Trajectories -- 7.5.2 Removing the Cancellation of Va(qa) -- 7.5.3 Enlarging the Class of Integral Actions -- 7.6 Examples -- 7.6.1 Tracking for Inverted Pendulum on a Cart -- 7.6.2 Cart‐Pendulum on an Inclined Plane -- 7.7 PID‐PBC of Constrained Euler-Lagrange Systems -- 7.7.1 System Model and Problem Formulation -- 7.7.2 Reduced Purely Differential Model -- 7.7.3 Design of the PID‐PBC -- 7.7.4 Main Stability Result -- 7.7.5 Simulation Results -- 7.7.6 Experimental Results -- Bibliography -- Chapter 8 Disturbance Rejection in Port‐Hamiltonian Systems -- 8.1 Some Remarks on Notation and Assignable Equilibria -- 8.1.1 Notational Simplifications -- 8.1.2 Assignable Equilibria for Constant d -- 8.2 Integral Action on the Passive Output -- 8.3 Solution Using Coordinate Changes -- 8.3.1 A Feedback Equivalence Problem -- 8.3.2 Local Solutions of the Feedback Equivalent Problem -- 8.3.3 Stability of the Closed‐Loop -- 8.4 Solution Using Nonseparable Energy Functions -- 8.4.1 Matched and Unmatched Disturbances -- 8.4.2 Robust Matched Disturbance Rejection -- 8.5 Robust Integral Action for Fully Actuated Mechanical Systems -- 8.6 Robust Integral Action for Underactuated Mechanical Systems 8.6.1 Standard Interconnection and Damping Assignment PBC -- 8.6.2 Main Result -- 8.7 A New Robust Integral Action for Underactuated Mechanical Systems -- 8.7.1 System Model -- 8.7.2 Coordinate Transformation -- 8.7.3 Verification of Requisites -- 8.7.4 Robust Integral Action Controller -- 8.8 Examples -- 8.8.1 Mechanical Systems with Constant Inertia Matrix -- 8.8.2 Prismatic Robot -- 8.8.3 The Acrobot System -- 8.8.4 Disk on Disk System -- 8.8.5 Damped Vertical Take‐off and Landing Aircraft -- Bibliography -- Appendix A Passivity and Stability Theory for State‐Space Systems -- A.1 Characterization of Passive Systems -- A.2 Passivity Theorem -- A.3 Lyapunov Stability of Passive Systems -- Bibliography -- Appendix B Two Stability Results and Assignable Equilibria -- B.1 Two Stability Results -- B.2 Assignable Equilibria -- Bibliography -- Appendix C Some Differential Geometric Results -- C.1 Invariant Manifolds -- C.2 Gradient Vector Fields -- C.3 A Technical Lemma -- Bibliography -- Appendix D Port-Hamiltonian Systems -- D.1 Definition of Port‐Hamiltonian Systems and Passivity Property -- D.2 Physical Examples -- D.2.1 Mechanical Systems -- D.2.2 Electromechanical Systems -- D.2.3 Power Converters -- D.3 Euler-Lagrange Models -- D.4 Port‐Hamiltonian Representation of GAS Systems -- Bibliography -- Index -- EULA. PID-Regler (DE-588)4226247-1 gnd Nichtlineares System (DE-588)4042110-7 gnd |
| subject_GND | (DE-588)4226247-1 (DE-588)4042110-7 |
| title | PID Passivity-Based Control of Nonlinear Systems with Applications |
| title_auth | PID Passivity-Based Control of Nonlinear Systems with Applications |
| title_exact_search | PID Passivity-Based Control of Nonlinear Systems with Applications |
| title_exact_search_txtP | PID Passivity-Based Control of Nonlinear Systems with Applications |
| title_full | PID Passivity-Based Control of Nonlinear Systems with Applications Romeo Ortega, José Guadalupe Romero, Pablo Borja, Alejandro Donaire |
| title_fullStr | PID Passivity-Based Control of Nonlinear Systems with Applications Romeo Ortega, José Guadalupe Romero, Pablo Borja, Alejandro Donaire |
| title_full_unstemmed | PID Passivity-Based Control of Nonlinear Systems with Applications Romeo Ortega, José Guadalupe Romero, Pablo Borja, Alejandro Donaire |
| title_short | PID Passivity-Based Control of Nonlinear Systems with Applications |
| title_sort | pid passivity based control of nonlinear systems with applications |
| topic | PID-Regler (DE-588)4226247-1 gnd Nichtlineares System (DE-588)4042110-7 gnd |
| topic_facet | PID-Regler Nichtlineares System |
| work_keys_str_mv | AT ortegaromeo pidpassivitybasedcontrolofnonlinearsystemswithapplications AT romerojoseguadalupe pidpassivitybasedcontrolofnonlinearsystemswithapplications AT borjapablo pidpassivitybasedcontrolofnonlinearsystemswithapplications AT donairealejandro pidpassivitybasedcontrolofnonlinearsystemswithapplications |