Tuning of Passivity-Preserving Controllers for Switched-Mode Power Converters

Systems & Control Letters

2007

A power-based description of standard mechanical systems Jeltsema, Dimitri; Scherpen, Jacquelien M. A. 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. AbstractThis paper is concerned with the construction of a power-based modeling framework for mechanical systems. Mathematically, this is formalized by proving that every standard mechanical system (with or without dissipation) can be written as a gradient vector field with respect to an indefinite metric. The form and existence of the corresponding potential function is shown to be the mechanical analog of Brayton and Moser's mixed-potential function as originally derived for nonlinear electrical networks in the early sixties. In this way, several recently proposed analysis and control methods that use the mixed-potential function as a starting point can also be applied to mechanical systems.

Section: Introductionmentioning

confidence: 99%

A power-based description of standard mechanical systems

Jeltsema

Systems & Control Letters

2007

“…For example, if a system operates under the influence of a (constant) gravitational force, the mapping q → f (recall that f represents the generalized forces) simply does not exist. 5 On the other hand, suppose for simplicity that M(q) is constant, i.e., M(q) = M, then (16) reduces to…”

Section: Resultsmentioning

confidence: 99%

“…Hence, the precise mechanical analogue of (4) is given by 5 Of course, we could treat gravity as an external force, input or disturbance. However, in Hamiltonian mechanics gravity is usually included using the potential energy function.…”

Section: Resultsmentioning

confidence: 99%

“…The mixedpotential (and thus the power in the system) can be used to construct Lyapunov-type functions to prove stability under certain conditions -even in cases that the system contains (regions of) negative resistance! Additionally, the stability criteria stemming from this method can be used to find lower bounds on the control parameters when applying PassivityBased Control 3 , see e.g., [5] for some recent results in the field of electronic power converter control.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Power-Based Perspective of Mechanical Systems

Jeltsema

Proceedings of the 44th IEEE Conference on Decision and Control

Self Cite

Abstract-This paper is concerned with the construction of a power-based modeling framework for a large class of mechanical systems. Mathematically this is formalized by proving that every standard mechanical system (with or without dissipation) can be written as a gradient vector field with respect to an indefinite metric. The form and existence of the corresponding potential function is shown to be the mechanical analogue of Brayton and Moser's mixed-potential function as originally derived for nonlinear electrical networks in the early sixties. In this way, several recently proposed analysis and control methods that use the mixed-potential function as a starting point can also be applied to mechanical systems.

“…This is a power-based framework that gives rise to a new power-based passivity based control strategy, [6], that has been applied successfully to electrical circuits. We like to extend the above treatment for electrical circuits to mechanical systems in order to use the advantages of the power-based control method, including also the considerations about series and parallel damping as presented in [7]. The usual mass/inductor and spring/condensator analogy is not always satisfactory.…”

Section: Introductionmentioning

confidence: 99%

An Electrical Interpretation of Mechanical Systems via the Pseudo-inductor in the Brayton-Moser Equations

Rinaldis

Proceedings of the 44th IEEE Conference on Decision and Control

Self Cite

An electrical interpretation of mechanical systems via the pseudo-inductor in the BraytonMoser equations Rinaldis, Alessandro de; Scherpen, Jacquelien M.A. 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. Abstract-In this paper an analogy between mechanical and electrical systems is presented, where, in contrast to the traditional analogy, position dependence of the mass inertia matrix is allowed. In order to interpret the mechanical system in an electrical manner, a pseudo-inductor element is introduced to cope with inductor elements with voltage-dependent electromagnetic coupling. The starting point of this paper is given by systems described in terms of the Euler-Lagrange equations. Then, via the introduction of the pseudo-inductor, the BraytonMoser equations are determined for the mechanical system.