A Lyapunov Approach to Robust Regulation of Distributed Port-Hamiltonian Systems

Abstract

This paper studies robust output tracking and disturbance rejection for boundary controlled infinite-dimensional port-Hamiltonian systems including second order models such as the Euler-Bernoulli beam. The control design is achieved using the internal model principle and the stability analysis using a Lyapunov approach. Contrary to existing works on the same topic no assumption is made on the external wellposedness of the considered class of systems. The theoretical results are applied in simulations to the robust tracking problem of a piezo actuated tube used in atomic force imaging.