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

R. Galindo, R. F. Ngwompo

Research output: Contribution to journalArticle

116 Downloads (Pure)

Abstract

Closed-loop control systems are designed for linear time-invariant (LTI) controllable and observable systems modelled by bond graph (BG). Cascade and feedback interconnections of BG models are realised through active 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 BG models 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 fields highlight energy properties like passivity that are useful for control design. In both interconnections, junction structures and dissipative fields for the controllers are proposed, and passivity is guaranteed for the closed-loop systems assuring robust stability. The cascade interconnection is applied to the structural representation of closed-loop transfer functions, when a stabilising controller is applied to a given nominal plant. Applications are given when the plant and the controller are described by state-space realisations. The feedback interconnection is used getting necessary and sufficient stability conditions based on the closed-loop characteristic polynomial, solving a pole-placement problem and achieving zero-stationary state error.

Original languageEnglish
Pages (from-to)420-436
Number of pages17
JournalInternational Journal of Control
Volume91
Issue number2
Early online date23 Feb 2017
DOIs
Publication statusPublished - 2018

Fingerprint

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

Keywords

  • Bond graph
  • feedback
  • junction structure
  • parameterisation of all stabilising controllers
  • physical and passivity-based control
  • pole-placement
  • robust stability
  • singularly perturbed
  • structural properties

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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

@article{220140983d7444b99efee86556e40fca,
title = "Passivity-based control of linear time-invariant systems modelled by bond graph",
abstract = "Closed-loop control systems are designed for linear time-invariant (LTI) controllable and observable systems modelled by bond graph (BG). Cascade and feedback interconnections of BG models are realised through active 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 BG models 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 fields highlight energy properties like passivity that are useful for control design. In both interconnections, junction structures and dissipative fields for the controllers are proposed, and passivity is guaranteed for the closed-loop systems assuring robust stability. The cascade interconnection is applied to the structural representation of closed-loop transfer functions, when a stabilising controller is applied to a given nominal plant. Applications are given when the plant and the controller are described by state-space realisations. The feedback interconnection is used getting necessary and sufficient stability conditions based on the closed-loop characteristic polynomial, solving a pole-placement problem and achieving zero-stationary state error.",
keywords = "Bond graph, feedback, junction structure, parameterisation of all stabilising controllers, physical and passivity-based control, pole-placement, robust stability, singularly perturbed, structural properties",
author = "R. Galindo and Ngwompo, {R. F.}",
year = "2018",
doi = "10.1080/00207179.2017.1283062",
language = "English",
volume = "91",
pages = "420--436",
journal = "International Journal of Control",
issn = "0020-7179",
publisher = "Taylor and Francis",
number = "2",

}

TY - JOUR

T1 - Passivity-based control of linear time-invariant systems modelled by bond graph

AU - Galindo, R.

AU - Ngwompo, R. F.

PY - 2018

Y1 - 2018

N2 - Closed-loop control systems are designed for linear time-invariant (LTI) controllable and observable systems modelled by bond graph (BG). Cascade and feedback interconnections of BG models are realised through active 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 BG models 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 fields highlight energy properties like passivity that are useful for control design. In both interconnections, junction structures and dissipative fields for the controllers are proposed, and passivity is guaranteed for the closed-loop systems assuring robust stability. The cascade interconnection is applied to the structural representation of closed-loop transfer functions, when a stabilising controller is applied to a given nominal plant. Applications are given when the plant and the controller are described by state-space realisations. The feedback interconnection is used getting necessary and sufficient stability conditions based on the closed-loop characteristic polynomial, solving a pole-placement problem and achieving zero-stationary state error.

AB - Closed-loop control systems are designed for linear time-invariant (LTI) controllable and observable systems modelled by bond graph (BG). Cascade and feedback interconnections of BG models are realised through active 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 BG models 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 fields highlight energy properties like passivity that are useful for control design. In both interconnections, junction structures and dissipative fields for the controllers are proposed, and passivity is guaranteed for the closed-loop systems assuring robust stability. The cascade interconnection is applied to the structural representation of closed-loop transfer functions, when a stabilising controller is applied to a given nominal plant. Applications are given when the plant and the controller are described by state-space realisations. The feedback interconnection is used getting necessary and sufficient stability conditions based on the closed-loop characteristic polynomial, solving a pole-placement problem and achieving zero-stationary state error.

KW - Bond graph

KW - feedback

KW - junction structure

KW - parameterisation of all stabilising controllers

KW - physical and passivity-based control

KW - pole-placement

KW - robust stability

KW - singularly perturbed

KW - structural properties

UR - http://www.scopus.com/inward/record.url?scp=85013673828&partnerID=8YFLogxK

U2 - 10.1080/00207179.2017.1283062

DO - 10.1080/00207179.2017.1283062

M3 - Article

VL - 91

SP - 420

EP - 436

JO - International Journal of Control

JF - International Journal of Control

SN - 0020-7179

IS - 2

ER -