Passivity-based control of linear time-invariant systems modelled by bond graph

R. Galindo, R. F. Ngwompo

Research output: Contribution to journalArticle

Abstract

Closed loop control systems are designed for Linear Time-Invariant (LTI) controllable and observable systems modelled by bond graph. Cascade and feedback interconnections of bond graph models are considered and are realized through active (signal) bonds with no loading effect. The use of active
bonds may lead to non-conservation of energy and the overall system is modelled by proposed pseudo-junction structures. These structures are build by adding parasitic elements to the bond graph models which assure that each storage element is connected to a dissipative element and the overall system
may become singularly perturbed. The structures for these interconnections can be seen as consisting of inner structures that satisfy energy conservation properties and outer structures including multiport-coupled dissipative fields. These structures are called pseudo due to the structural properties of power
conservation not being satisfied in the outer structures. The multiport-coupled dissipative fields highlight energy properties like passivity. These properties are useful for control design. In both interconnections, junction structures and multiport-coupled dissipative fields for the controllers are proposed and passivity is guaranteed for the closed loop systems assuring robust stability. The pseudo-junction structure for the cascade interconnection is applied to the structural representation of the closed loop transfer functions, in a one-degree of freedom feedback configuration, when a controller from the parameterisation of all stabilizing controllers is applied to a given nominal plant. Applications are given when the plant and the controller are described by state-space realizations, in this case parasitic elements are not added. Moreover, the feedback interconnection is used and the controller is tuned getting necessary and sufficient stability conditions based on the characteristic polynomial of the closed loop transfer function, solving a pole-placement problem and achieving zero-stationary state error.
LanguageEnglish
Pages420-436
Number of pages17
JournalInternational Journal of Control
Volume91
Issue number2
Early online date23 Feb 2017
DOIs
StatusPublished - 2018

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Controllers
Feedback
Transfer functions
Closed loop control systems
Parameterization
Closed loop systems
Structural properties
Poles
Conservation
Energy conservation
Polynomials

Cite this

Passivity-based control of linear time-invariant systems modelled by bond graph. / Galindo, R.; Ngwompo, R. F.

In: International Journal of Control, Vol. 91, No. 2, 2018, p. 420-436.

Research output: Contribution to journalArticle

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