12 citations · 25 across the 11 of their papers we have counts for
4 papers · 2 filters
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…
Network Systems and String Stability
S. Stuedli, M. M. Seron, R. H. Middleton
Network systems and their control are highly important and appear in a variety of applications, including vehicle platooning and formation con- trol. Especially vehicle platoons ar…