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Robust Nonlinear Control. Port-controlled Hamiltonian Systems: Towards a Theory for Control and Design of Nonlinear Physical Systems.

It is shown how network modeling of lumped-parameter physical systems naturally leads to a geometrically defined class of systems, called port-controlled Hamiltonian systems with dissipation. The structural properties of these systems are discussed, in particular the existence of Casimir functions and their implications for stability. It is shown how a power-conserving interconnection of port-controlled Hamiltonian systems defines another port-controlled Hamiltonian system, and how this may be used for design and for control by shaping the internal energy.