Robust PI passivity-based control of nonlinear systems: Application to port-Hamiltonian systems and temperature regulation

@article{Aranovskiy2015RobustPP,
  title={Robust PI passivity-based control of nonlinear systems: Application to port-Hamiltonian systems and temperature regulation},
  author={Stanislav Aranovskiy and Romeo Ortega and Rafael Cisneros},
  journal={2015 American Control Conference (ACC)},
  year={2015},
  pages={434-439}
}
This paper deals with the problem of control of partially known nonlinear systems, which have an open-loop stable equilibrium, but we would like to add a PI controller to regulate its behavior around another operating point. Our main contribution is the identification of a class of systems for which a globally stable PI can be designed knowing only the systems input matrix and measuring only the actuated coordinates. The construction of the PI is done invoking passivity theory. The difficulties… 
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