Markus Schöberl, Andreas Siuka,
"Modelling and Control of infinite-dimensional Mechanical Systems:A port-Hamiltonian Approach,"
, in H. Gattringer, J. Gerstmayr: Multibody Systems Dynamics, Robotics and Control, Springer, Wien, Seite(n) 75-93, 2013, ISBN: 978-3709112885
Modelling and Control of infinite-dimensional Mechanical Systems:A port-Hamiltonian Approach,
Sprache des Titels:
Multibody Systems Dynamics, Robotics and Control
We consider a port Hamiltonian representation for infinite-dimensional
systems described by partial differential equations. Then the control by interconnection
method is applied, by using a finite dimensional controller system interacting
via an energy port at the boundary of the infinite dimensional system. This will be
demonstrated by means of a heavy chain system, modelled as a partial differential
equation. Furthermore, we sketch the stability proof in the infinite dimensional setting.
To motivate for the presented ideas we recapitulate the well-known concepts
for finite dimensional systems as well, but mainly as a starting point for the discussion
of the infinite setting.