On the equivalence of two nonlinear control approaches: Immersion and invariance and IDA-PBC

In this paper we compare the two well-known nonlinear control design techniques Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) and Immersion and Invariance (I&I) at the example of the so-called Acrobot underactuated mechanical system. The immersion and matching equation...

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Veröffentlicht in:	European journal of control 2013-12, Vol.19 (6), p.445-453
Hauptverfasser:	Kotyczka, Paul, Sarras, Ioannis
Format:	Artikel
Sprache:	eng
Schlagworte:	Closed loop systems Controllers Dynamical systems Equilibrium Immersion and invariance Partial differential equations Passivity based control Port-Hamiltonian systems Underactuated mechanical systems
Online-Zugang:	Volltext
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