Citation for published version (APA): Cervera, J., Schaft, A. J. V. D., & Baños, A. (2007). Interconnection of port-Hamiltonian systems and composition of Dirac structures. Automatica, 43(2), 212-225. DOI: 10.1016/j.automatica.2006 Copyright Other than for strictly personal use, it is not permitted to download or to forward/distribute the text or part of it without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license (like Creative Commons).Take-down policy If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim.Downloaded from the University of Groningen/UMCG research database (Pure): http://www.rug.nl/research/portal. For technical reasons the number of authors shown on this cover page is limited to 10 maximum. AbstractPort-based network modeling of physical systems leads to a model class of nonlinear systems known as port-Hamiltonian systems. PortHamiltonian systems are defined with respect to a geometric structure on the state space, called a Dirac structure. Interconnection of portHamiltonian systems results in another port-Hamiltonian system with Dirac structure defined by the composition of the Dirac structures of the subsystems. In this paper the composition of Dirac structures is being studied, both in power variables and in wave variables (scattering) representation. This latter case is shown to correspond to the Redheffer star product of unitary mappings. An equational representation of the composed Dirac structure is derived. Furthermore, the regularity of the composition is being studied. Necessary and sufficient conditions are given for the achievability of a Dirac structure arising from the standard feedback interconnection of a plant port-Hamiltonian system and a controller port-Hamiltonian system, and an explicit description of the class of achievable Casimir functions is derived. ᭧

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Reset compensation has been used to overcome limitations of linear and time invariant (LTI) compensation. In this work, a new reset compensator, referred to as proportional and integral (PI) + CI (Clegg integrator), is introduced. It basically consists of adding a Clegg integrator to a PI compensator, with the goal of improving the closed loop response by using the nonlinear characteristic of this element. It turns out that by resetting a percentage of the integral term in a PI compensator, a significant improvement can be obtained over a well-tuned PI compensator in some relevant practical cases, such as systems with dominant lag and integrating systems. The work is devoted to the development of PI + CI tuning rules for basic dynamic systems in a wide range of applications, including first and higher order plus dead time systems.