Energy-Based Control for Hybrid Port-Controlled Hamiltonian Systems

In this paper we develop an energy-based hybrid control framework for hybrid port-controlled Hamiltonian systems. In particular, we obtain constructive sufficient conditions for hybrid feedback stabilization that provide a shaped energy function for the closed-loop system, while preserving a hybrid...

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Journal Title: Automatica Vol. 39; no. 8; pp. 1425 - 1435
Authors: W.M. Haddad, V. Chellaboina, Sergey Nersesov
Format: Article
Published: Aug 2003
Online Access: Full Text