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eess.SY2021
Explicit Port-Hamiltonian FEM-Models for Linear Mechanical Systems with Non-Uniform Boundary Conditions
Tobias Thoma, Paul Kotyczka
In this contribution we present how to obtain explicit state space models in port-Hamiltonian form when a mixed finite element method is applied to a linear mechanical system with…
eess.SY2021
Symplectic discrete-time energy-based control for nonlinear mechanical systems
Paul Kotyczka, Tobias Thoma
In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear…