A Unified Port-Hamiltonian Approach for Modelling and Stabilizing Control of Engineering Systems

This work deals with systems whose dynamics are affine in the control input. Such dynamics are considered to be significantly differentially expressed in a canonical form, namely the quadratic (pseudo) port-Hamiltonian representation, in order to explore further some structural properties usable for the tracking-error passivity-based control design. Different kinds of linear and nonlinear engineering systems including an open isothermal homogeneous system and a continuous biochemical fermenter are used to illustrate the approach.