A Simple Robust Controller for Port–Hamiltonian Systems

Abstract

<p>We consider robust output regulation of passive infinite-dimensional linear port-Hamiltonian systems. As the main result, we present a Lyapunov-based proof to show that a passive internal model based low-gain controller solves the control problem for stable port-Hamiltonian systems. The theoretic results are used to construct a controller controller for robust output tracking of a piezoelectric tube model.</p>