From Nonlinear Systems To Port Controlled Hamiltonian Systems
| Authors: | Cheng Daizhan, Chinese Academy of Sciences, China
Ortega Romeo, Lab. des Signaux et Systemes, Supelec, France
Panteley Elena, Lab. des Signaux et Systemes, Supelec, France |
|---|
| Topic: | 2.3 Non-Linear Control Systems |
|---|
| Session: | Feedback Linearization |
|---|
| Keywords: | Hamiltonian systems, pseudo--gradientsystems, passivity-based control, feedback equivalence. |
|---|
Abstract
This paper gives necessary and sufficient conditions under which an affine nonlinear system is feedback equivalent to a port controlled Hamiltonian system. In particular, we identify the minimum number of linear partial differential equations that need to be solved to achieve this transformation.
