Pid Passivity-Based Control of Nonlinear Systems with Applications

Author Biographies xv Preface xix Acknowledgments xxiii Acronyms xxv Notation xxix 1 Introduction 1 2 Motivation and Basic Construction of PID Passivity-based Control 5 2.1 L2-Stability and Output Regulation to Zero 6 2.2 Well-Posedness Conditions 9 2.3 PID-PBC and the Dissipation Obstacle 10 2.3.1 Passive systems and the dissipation obstacle 11 2.3.2 Steady-state operation and the dissipation obstacle 12 2.4 PI-PBC with y0 and Control by Interconnection 14 3 Use of Passivity for Analysis and Tuning of PIDs: Two Practical Examples 19 3.1 Tuning of the PI Gains for Control of Induction Motors 21 3.1.1 Problem formulation 23 3.1.2 Change of coordinates 27 3.1.3 Tuning rules and performance intervals 30 3.1.4 Concluding remarks 35 3.2 PI-PBC of a Fuel Cell System 36 3.2.1 Control problem formulation 41 3.2.2 Limitations of current controllers and the role of passivity 46 3.2.3 Model linearization and useful properties 48 3.2.4 Main result 50 3.2.5 An asymptotically stable PI-PBC 54 3.2.6 Simulation results 57 3.2.7 Concluding remarks and future work 58 4 PID-PBC for Nonzero Regulated Output Reference 61 4.1 PI-PBC for Global Tracking 63 4.1.1 PI global tracking problem 63 4.1.2 Construction of a shifted passive output 65 4.1.3 A PI global tracking controller 67 4.2 Conditions for Shifted Passivity of General Nonlinear Systems 68 4.2.1 Shifted passivity definition 69 4.2.2 Main results 70 4.3 Conditions for Shifted Passivity of port-Hamiltonian Systems 73 4.3.1 Problems formulation 74 4.3.2 Shifted passivity 75 4.3.3 Shifted passifiability via output-feedback 77 4.3.4 Stability of the forced equilibria 78 4.3.5 Application to quadratic pH systems 79 4.4 PI-PBC of Power Converters 81 4.4.1 Model of the power converters 81 4.4.2 Construction of a shifted passive output 82 4.4.3 PI stabilization 85 4.4.4 Application to a quadratic boost converter 86 4.5 PI-PBC of HVDC Power Systems 89 4.5.1 Background 89 4.5.2 Port-Hamiltonian model of the system 91 4.5.3 Main result 93 4.5.4 Relation of PI-PBC with Akagi's PQ method 95 4.6 PI-PBC of Wind Energy Systems 96 4.6.1 Background 96 4.6.2 System model 98 4.6.3 Control problem formulation 102 4.6.4 Proposed PI-PBC 104 4.7 Shifted Passivity of PI-Controlled Permanent Magnet Synchronous Motors 107 4.7.1 Background 107 4.7.2 Motor models 108 4.7.3 Problem formulation 111 4.7.4 Main result 113 4.7.5 Conclusions and future research 114 5 Parameterization of All Passive Outputs for port-Hamiltonian Systems 115 5.1 Parameterization of all Passive Outputs 116 5.2 Some Particular Cases 118 5.3 Two Additional Remarks 120 5.4 Examples 121 5.4.1 A level control system 121 5.4.2 A microelectromechanical optical switch 123 6 Lyapunov Stabilization of port-Hamiltonian Systems 125 6.1 Generation of Lyapunov Functions 127 6.1.1 Basic PDE 128 6.1.2 Lyapunov stability analysis 129 6.2 Explicit Solution of the PDE 131 6.2.1 The power shaping output 132 6.2.2 A more general solution 133 6.2.3 On the use of multipliers 135 6.3 Derivative Action on Relative Degree Zero Outputs 137 6.3.1 Preservation of the port-Hamiltonian Structure of I-PBC 138 6.3.2 Projection of the new passive output 140 6.3.3 Lyapunov stabilization with the new PID-PBC 141 6.4 Examples 142 6.4.1 A microelectromechanical optical switch (continued) 143 6.4.2 Boost converter 144 6.4.3 2-dimensional controllable LTI systems 146 6.4.4 Control by Interconnection vs PI-PBC 148 6.4.5 The use of the derivative action 150 7 Underactuated Mechanical Systems 153 7.1 Historical Review and Chapter Contents 153 7.1.1 Potential energy shaping of fully actuated systems 154 7.1.2 Total energy shaping of underactuated systems 156 7.1.3 Two formulations of PID-PBC 157 7.2 Shaping the Energy with a PID 158 7.3 PID-PBC of port-Hamiltonian Systems 161 7.3.1 Assumptions on the system 161 7.3.2 A suitable change of coordinates 163 7.3.3 Generating new passive outputs 165 7.3.4 Projection of the total storage function 167 7.3.5 Main stability result 169 7.4 PID-PBC of Euler-Lagrange Systems 172 7.4.1 Passive outputs for Euler-Lagrange systems 173 7.4.2 Passive outputs for Euler-Lagrange systems in Spong's normal form 175 7.5 Extensions 176 7.5.1 Tracking constant speed trajectories 176 7.5.2 Removing the cancellation of Va(qa) 178 7.5.3 Enlarging the class of integral actions 179 7.6 Examples 180 7.6.1 Tracking for inverted pendulum on a cart 180 7.6.2 Cart-pendulum on an inclined plane 182 7.7 PID-PBC of Constrained Euler-Lagrange Systems 190 7.7.1 System model and problem formulation 191 7.7.2 Reduced purely differential model 195 7.7.3 Design of the PID-PBC 196 7.7.4 Main stability result 199 7.7.5 Simulation Results 200 7.7.6 Experimental Results 202 8 Disturbance Rejection in port-Hamiltonian Systems 207 8.1 Some Remarks On Notation and Assignable Equilibria 209 8.1.1 Notational simplifications 209 8.1.2 Assignable equilibria for constant d 210 8.2 Integral Action on the Passive Output 211 8.3 Solution Using Coordinate Changes 214 8.3.1 A feedback equivalence problem 214 8.3.2 Local solutions of the feedback equivalent problem 217 8.3.3 Stability of the closed-loop 219 8.4 Solution Using Nonseparable Energy Functions 221 8.4.1 Matched and unmatched disturbances 222 8.4.2 Robust matched disturbance rejection 225 8.5 Robust Integral Action for Fully Actuated Mechanical Systems 230 8.6 Robust Integral Action for Underactuated Mechanical Systems 237 8.6.1 Standard interconnection and damping assignment PBC 239 8.6.2 Main result 241 8.7 A New Robust Integral Action for Underactuated Mechanical Systems 244 8.7.1 System model 244 8.7.2 Coordinate transformation 245 8.7.3 Verification of requisites 246 8.7.4 Robust integral action controller 248 8.8 Examples 248 8.8.1 Mechanical systems with constant inertia matrix 249 8.8.2 Prismatic robot 250 8.8.3 The Acrobot system 255 8.8.4 Disk on disk system 260 8.8.5 Damped vertical take-off and landing aircraft 265 A Passivity and Stability Theory for State-Space Systems 269 A.1 Characterization of Passive Systems 269 A.2 Passivity Theorem 271 A.3 Lyapunov Stability of Passive Systems 273 B Two Stability Results and Assignable Equilibria 275 B.1 Two Stability Results 275 B.2 Assignable Equilibria 276 C Some Differential Geometric Results 279 C.1 Invariant Manifolds 279 C.2 Gradient Vector Fields 280 C.3 A Technical Lemma 281 D Port-Hamiltonian Systems 283 D.1 Definition of port-Hamiltonian Systems and Passivity Property 283 D.2 Physical Examples 284 D.3 Euler-Lagrange Models 286 D.4 Port-Hamiltonian Representation of GAS Systems 288 Index 309