Funnel MPC for port-Hamiltonian systems

Abstract

Port-Hamiltonian systems are an energy-based modelling formalism, that has strong ties to the physical models and allows interconnection of systems. Funnel MPC, a Model Predictive Control (MPC) scheme, allows for output tracking with prescribed error bounds. Earlier works focused on systems with stable internal dynamics, which typically excludes port-Hamiltonian systems. We introduce a modified stage cost design that takes into account the port-Hamiltonian structure of the system and allows deactivation of the funnel cost. We show initial and recursive feasibility for a class of port-Hamiltonian systems with relative degree one including unstable internal dynamics.