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A Generalized Scalar Auxiliary Variable Method for Structure-Preserving and Efficient Integration of Nonlinear port-Hamiltonian DAEs
Aashutosh Sharma, Andreas Bartel, Manuel Schaller
We develop an energy-optimal generalized scalar auxiliary variable (EOP-GSAV) framework for nonlinear index-one port-Hamiltonian differential-algebraic equations (pH-DAEs). Exploit…
Stabilize-then-optimize: Feedback transformations as preconditioners in optimal control
Till Preuster, Manuel Schaller, Anton Schiela +1
Many numerical algorithms for optimal control leverage an elimination of the state via the control-to-state map such as condensed approaches or preconditioned conjugate gradient me…
Coupling optimization algorithms and monotone control systems: Suboptimal model predictive control as an operator splitting scheme
Till Preuster, Hannes Gernandt, Manuel Schaller
We propose a framework for suboptimal model predictive control (MPC) based on the interconnection of monotone dynamical systems, such as port-Hamiltonian systems. In contrast to cl…
Goal-Oriented Time Adaptivity for Linear Port-Hamiltonian Differential-Algebraic Equations of Index~1
Aashutosh Sharma, Andreas Bartel, Manuel Schaller
Port-Hamiltonian systems provide a highly-structured framework for modeling of physical systems. By definition, they encode a balance equation relating energy changes to supplied a…
Stabilization of monotone control systems with input constraints
Till Preuster, Hannes Gernandt, Manuel Schaller
We present a stabilizing output-feedback controller for nonlinear finite and infinite-dimensional control systems governed by monotone operators that respects given input constrain…
Towards Polynomial Immersion of Port-Hamiltonian Systems
Mohammad Itani, Manuel Schaller, Karl Worthmann +1
Port-Hamiltonian (pH) systems offer a highly structured and energy-based modular framework for control systems. Many pH systems exhibit non-polynomial non-linearities. We consider…
Optimization-based control by interconnection of nonlinear port-Hamiltonian systems
Till Preuster, Hannes Gernandt, Manuel Schaller
In this paper, we develop a control-by-interconnection approach for the stabilization of nonlinear port-Hamiltonian systems. Motivated by model predictive control, the controller i…