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- W1640874559 abstract "Energy-based modeling and control of dynamical systems is crucial since energy is a fundamental concept in Science and Engineering theory and practice. While Interconnection and Damping Assignment Passivity-based Control (IDA-PBC) is a powerful theoretical tool to control port-controlled Hamiltonian (PCH) systems that arise from energy balancing principles, sensorless operation of energy harvesters is a promising practical solution for low-power energy generation. e thesis addresses these two problems of energy-based control and ecient energy generation. e design via IDA-PBC hinges on the solution of the so-called matching equation which is the stumbling block in making this method widely applicable. In the rst part of the thesis, a constructive approach for IDA-PBC for PCH systems that circumvents the solution of the matching equation is presented. A new notion of solution for the matching equation, called algebraic solution, is introduced. is notion is instrumental for the construction of an energy function dened on an extended state-space. is yields, dierently from the classical solution, a dynamic state-feedback that stabilizes a desired equilibrium point. In addition, conditions that preserve the PCH structure in the extended closed-loop system have been provided. e theory is validated on four examples: a two-dimensional nonlinear system, a magnetic levitated ball, an electrostatic microactuator and a third order food-chain system. For these systems damping structures that cannot be imposed with the standard approach are assigned. In the second part of the thesis, the design of a nonlinear observer and of an energybased controller for sensorless operation of a rotational energy harvester is presented. A mathematicalmodel of the harvester with its power electronic interface is developed. is model is used to design an observer that estimates the mechanical quantities from the measured electrical quantities. e gains of the observer depend on the solution of a modied Riccati equation. e estimatedmechanical quantities are used in a feedback control law that sustains energy generation across a range of source rotation speeds. e proposed observer-controller scheme is assessed through simulations and experiments." @default.
- W1640874559 created "2016-06-24" @default.
- W1640874559 creator A5047388650 @default.
- W1640874559 date "2014-06-01" @default.
- W1640874559 modified "2023-09-27" @default.
- W1640874559 title "Constructive interconnection and damping assignment passivity-based control with applications" @default.
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- W1640874559 doi "https://doi.org/10.25560/24587" @default.
- W1640874559 hasPublicationYear "2014" @default.
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