Robust Regulation for Port-Hamiltonian Systems of Even Order

Abstract

We present a controller that achieves robust regulation for a port-Hamiltonian system of even order. The controller is especially designed for impedance energy-preserving systems. By utilizing the stabilization results for port-Hamiltonian systems together with the theory of robust output regulation for exponentially stable systems, we construct a simple controller that solves the Robust Output Regulation Problem for an initially unstable system. The theory is illustrated on an example where we construct a controller for one- dimensional Schrödinger equation with boundary control and observation.