PDE-Based Modeling and Non-collocated Feedback Control of Electrosurgical-Probe/Tissue Interaction.

The first control-oriented model of the interaction of an electrosurgical probe with organic tissue, based on a 1-D PDE with a moving boundary, is introduced. To attain the desired electrosurgically-induced tissue changes using this model, a non-collocated output feedback moving boundary control law is proposed. The latter is realized through a novel non-collocated pointwise temperature-based state observer for the two-phase Stefan problem. Simulation demonstrates that the controller proposed meets the performance objective. The controller implementation is also discussed.