The aim of this thesis is to develop a novel design of passivity-based control
for nonlinear Port Hamiltonian Systems with implicit definition of the
Hamiltonian function. The first objective is to characterize this class in
terms of physical models, in particular the relation with the Port Hamiltonian
formulation of mechanical systems with constraints, Thermodynamic systems
defined on the Thermodynamic Phase Space. Furthermore its various coordinate
representations will be detailed, the index of the constraints and the
projection to an explicit representation will be investigated. Finally its
system-theoretic properties such as passivity, cyclo-passivity, observabiliuty
and controllability will be analyzed.
The second objective is to develop and generalize the control design
techniques such as the Control by Interconnection (CbI), Interconnection &
Damping Assignment Passivity-Based Control (IDA-PBC) to these systems in
order to shape in closed-loop their properties in terms of structure,
dissipation and energy.
The third objective is to consider the structure preserving, model order
reduction techniques in the light of these Port Hamiltonian Systems with
implicit definition of the Hamiltonian and consider singular perturbation
REQUIRED EDUCATION LEVEL
Engineering: Master Degree or equivalent
The candidates should have a MSc in automatic control, control system theory
or equivalent and be motivated by a research project Ph.D. in control system
theory. Prior knowledge in (port-)Hamiltonian systems, nonlinear control and
an experience in numerical method programming will be appreciated.
control laws derived by machine learning
About the research centre or Inria department
laboratories of excellence, technological research institute, etc.
The design of controllers for large cyber physical systems (CPS, i.e. systems
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