Observer Design for a Class of Nonlinear Hamiltonian Systems

Resumen: In this paper the observer design problem for a class of nonlinear port-Hamiltonian system is addressed. The nonlinearities of the port-Hamiltonian system which are regarded correspond to the product among the state vector components.This nonlinear behavior is associated to a special class of internal interconnection of the port-Hamiltonian system states. This special interconnection takes advantage of the skew-symmetric matrix properties in order to characterize the error dynamics and its stability properties. Stability proprieties of the error dynamics are established by the observer gains which are designed via perturbed system theory, and they achieve a asymptotic convergence of the observation scheme. For the class of the port-Hamiltonian systems a full-order observer design is put forward what is an observer Luenberger-like. Finally is set out a solution of the speed estimation problem for the Permanent Magnet Synchronous Motor as an application of our observer design.

¿Cómo citar?

Christian Granados-Salazar, Michael Rojas & Gerardo Espinosa-Perez. Observer Design for a Class of Nonlinear Hamiltonian Systems. Memorias del Congreso Nacional de Control Automático, pp. 400-405, 2021.

Palabras clave

Port-Controlled Hamiltonian systems, Nonlinear Observers, Permanent-Magnet Synchronous Motor

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