PID Passivity-Based Control of Nonlinear Systems with Applications

Romeo Ortega, Jose Guadalupe Romero, Pablo Borja, Alejandro Donaire

• Publisher: Wiley-IEEE Press
• Year: 2021
• Print ISBN: 9781119694168
• eBook ISBN: 9781119694175
• Edition: 1
• Topic: Biological Sciences
• Subtopic: System Theory
• Index: Biological Sciences

Explore thefoundational and advancedsubjects associated with proportional-integral-derivative controllers fromleading authors in the field

In PID Passivity-Based Control of Nonlinear Systems with Applications, expert researchers and authors Drs. Romeo Ortega, Jose GuadalupeRomero, Pablo Borja, andAlejandro Donairedelivera comprehensive and detailed discussion of the most crucial and relevant conceptsin the analysis and design ofproportional-integral-derivative controllersusing passivity techniques. The accomplished authors present a formal treatment of the recentresearch in the area and offer readers practical applications of the developed methods to physical systems, including electrical, mechanical, electromechanical, power electronics, and process control.

The book offers the material with minimal mathematical background, making it relevant to a wide audience. Familiarity withthe theoretical tools reported in the control systems literature is not necessary to understand the concepts contained within.You'll learn abouta wide range of concepts, including disturbance rejection via PID control, PID control of mechanical systems, and Lyapunov stability of PID controllers.

Readers will also benefit from the inclusion of:

• A thorough introduction toa class of physical systems described in the port-Hamiltonian formand a presentation of the systematic procedures to design PID-PBC for them
• An exploration ofthe applications to electrical, electromechanical, and process control systems ofLyapunov stability of PID controllers
• Practical discussions ofthe regulation and tracking of bilinear systems via PID control andtheir application to power electronics and thermal process control
• A concise treatment ofthe characterization of passive outputs, incremental models, and Port Hamiltonian and Euler-Lagrange systems

Perfect forsenior undergraduate and graduate studentsstudying control systems, PID Passivity-Based Control will also earn a place in the libraries ofengineers who practice in this area and seek a one-stopand fully updatedreferenceon the subject.

Table of contents

• Cover
• Title Page
• Copyright
• Contents
• Author Biographies
• Preface
• Acknowledgments
• Acronyms
• Notation
• Chapter 1 Introduction
• Chapter 2 Motivation and Basic Construction of PID Passivity‐Based Control
• Chapter 3 Use of Passivity for Analysis and Tuning of PIDs: Two Practical Examples
• Chapter 4 PID‐PBC for Nonzero Regulated Output Reference
• Chapter 5 Parameterization of All Passive Outputs for Port‐Hamiltonian Systems
• Chapter 6 Lyapunov Stabilization of Port‐Hamiltonian Systems
• Chapter 7 Underactuated Mechanical Systems
• Chapter 8 Disturbance Rejection in Port‐Hamiltonian Systems
• Appendix A Passivity and Stability Theory for State‐Space Systems
• Appendix B Two Stability Results and Assignable Equilibria
• Appendix C Some Differential Geometric Results
• Appendix D Port–Hamiltonian Systems
• Index
• EULA