Stability and Robustness of Disturbed-Port Controlled Hamiltonian Systems with Dissipation

A recent approach of Passivity-Based Control (PBC) is theInterconnection and Damping Assignment Passivity-Based Control(IDA-PBC) which is a very useful technique to control nonlinearsystems assigning a desired Port-Controlled Hamiltonian (PCH)structure to the closed-loop. IDA-PBC provides sometimes controllaws that are complicated and/or need all state measurement. Inthis paper, Disturbed-PCHD systems are considered where IDA-PBCis applied. Two sufficient stability conditions on thedisturbances are given. Moreover, this approach allows to studycontroller robustness against parameters uncertainties. This newapproach simplify the control law and allows to deal withunmeasured terms. Application of this new approach to the controlof the voltage-fed Induction Machine (IM) is presented.