Parameterization of All Passive Outputs for Port‐Hamiltonian Systems

Abstract

The identification of the passive outputs of the system to be controlled is a key step in the construction of proportional‐integral‐derivative‐passivity‐based controls. However, the passive output of the system is not unique; therefore, a parameterization of all the possible passive outputs of a system is of utmost importance. This chapter aims to discuss the characterization – in terms of some free mappings – of all the passive outputs of a pH system of the form given in, considering the Hamiltonian H(x) as the storage function. It argues that all passive outputs of the pH system reported in the literature can be generated via the parameterization of the passive output provided.