In this chapter we present a state space interpretation of the small gain and passivity
approach of the previous chapter. Moreover, we will come to some kind of synthesis …

In this note, we address the problem of stabilization of port-Hamiltonian systems via the
ubiquitous proportional-integral-derivative (PID) controller. The design is based on passivity …

In this paper we present a method for the addition of integral action to nonpassive outputs of
a class of port-Hamiltonian (pH) systems. The proposed integral controller is a dynamic …

In this paper, we examine the shifted passivity property of port-Hamiltonian systems. Shifted
passivity accounts for the fact that in many applications the desired steady-state values of …

In this paper, we present a method to robustify asymptotically stable nonlinear systems by
adding an integral action that rejects unknown additive disturbances. The proposed …

In this paper, a composite control scheme is presented to asymptotically stabilize a class of
port-controlled Hamiltonian systems under nonvanishing disturbances. First, based on the …

In this paper, we investigate the finite‐time stability (FTS) and H∞ H _ ∞ control of nonlinear
Hamiltonian systems with time‐varying state delays and output delays subject to input …

In this article, stabilization of port-Hamiltonian (pH) systems is studied in the context of
shifted passivity. The pH systems, in general, are not shifted passive with respect to the …

The problem of global output regulation for a class of single input Port-controlled
Hamiltonian disturbed systems is studied. A composite control method is developed by …

Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to
be a successful control technique for the stabilisation of many nonlinear systems. In this …