Abstract
This contribution presents a port-Hamiltonian (pH) framework for the modeling and control of a certain class of distributed-parameter systems. Since the proposed pH-formulation can be seen as a direct adoption of the calculus of variations on jet bundles, it is especially suited for mechanical systems exhibiting a variational character. Besides the pH-framework, an energy-based control scheme making heavy use of structural invariants (casimir functions) is presented on the example of a boundary-controlled Euler–Bernoulli beam.
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Acknowledgement
This work was partially supported by the Linz Center of Mechatronics (LCM) in the Framework of the Austrian COMET-K2 Program.
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Rams, H., Schöberl, M., Schlacher, K. (2019). Control of Beam Vibrations by Casimir Functions. In: Matveenko, V., Krommer, M., Belyaev, A., Irschik, H. (eds) Dynamics and Control of Advanced Structures and Machines. Springer, Cham. https://doi.org/10.1007/978-3-319-90884-7_15
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DOI: https://doi.org/10.1007/978-3-319-90884-7_15
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