无源控制理论分析.pdfVIP

Passive control theory I Carles Batlle II EURON/GEOPLEX Summer School on Modeling and Control of Complex Dynamical Systems Bertinoro, Italy, July 18-22 2005 Contents of this lecture Change of paradigm in control: from signal based to energy based Fits well with the PHDS modeling approach Energy balance control Control as interconnection Casimir functions and the dissipation obstacle References Ortega, R., A.van der Schaft, I. Mareels, and B. Maschke, Putting energy back in control. IEEE Control Systems Magazine 21, pp. 18-33, 2001. Ortega, R., A.van der Schaft, and B. Maschke, Interconnection and damping assignment passivity-based control of port- controlled Hamiltonian systems. Automatica 38, pp. 585-596, 2002. Rodríguez, H., and R. Ortega, Stabilization of electromechanical systems via interconnection and damping assignment. Int. Journal of Robust and Nonlinear Control 13, pp. 1095-1111, 2003. Energy based control Control problems have been approached traditionally adopting a signal-processing viewpoint. Very useful for linear time-invariant systems, where signals can be discriminated via filtering. For nonlinear systems, frequency mixing makes things harder: very involved computations very complex and energy comsuming controls are needed to suppress the large set of undesirable signals Most of the problem stems from not using any information about the physical structure of the system. We have learnt from the previous lectures that energy plays an essential role in the description of physical systems. energy based control the controller should shape the energy of the system, and even