6 citations · 11 across the 10 of their papers we have counts for
3 papers · 1 filter
New results on disturbance rejection for energy-shaping controlled port-Hamiltonian systems
Joel Ferguson, Alejandro Donaire, Romeo Ortega +1
In this paper we present a method to robustify energy-shaping controllers for port-Hamiltonian (pH) systems by adding an integral action that rejects unknown additive disturbances.…
Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems
Joel Ferguson, Alejandro Donaire, Romeo Ortega +1
In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbance…
Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation
Joel Ferguson, Alejandro Donaire, Richard H. Middleton
In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic e…