Energy-Based Modeling and Control

We develop and apply methods for modeling, discretization and control of dynamical systems under preservation – or inspired by – their physical structure. Current research foci are the discrete modeling of distributed-parameter Port-Hamiltonian systems (dPHS) and the coupling of this control-oriented system representation with numerical methods and computational tools.

A flexible joint and link manipulator has been constructed to serve as an experimental platform to validate our model-based control designs. The DFG-ANR grant Interconnected infinite-dimensional systems for heterogeneous media (INFIDHEM) consolidates our research cooperation with our French and German partners in the field and strengthens the link with our Model Order Reduction group.

Research projects

Past topics and completed projects

  • Feedforward and Feedback Control of Distributed-Parameter Systems Based on Discretized Port-Hamiltonian Models (2015-2019)
  • Identification and Control for Pneumatic Systems (2014-2019)
  • Easy-to-Implement Energy-Based Control Design for Systems of Conservation Laws
  • Geometric Modeling, Discretization and Control of Mechanical Systems (2014-2016)
  • Control of Underactuated Mechanical Systems (2011-2016)
  • Passivity-Based Control of Switching Nonlinear Systems (2010-2013)
  • Parameterization of Passivity Based Controller Design (2006-2010)
  • Structure Preserving Model Order Reduction of Port-Hamiltonian Systems