PID Passivity-Based Control of Nonlinear Systems with Applications

243 Pages·2021·6.87 MB·English

by  Romeo Ortega, Jose Guadalupe Romero, Pablo Borja, Alejandro Donaire

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PIDPassivity-BasedControlofNonlinearSystemswith
Applications
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PID Passivity-Based Control of Nonlinear
Systems with Applications
Romeo Ortega
InstitutoTecnológicoAutónomodeMéxico
José Guadalupe Romero
InstitutoTecnológicoAutónomodeMéxico
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Pablo Borja
UniversityofGroningen
Alejandro Donaire
TheUniversityofNewcastle
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Copyright©2021byTheInstituteofElectricalandElectronicsEngineers,Inc.Allrights
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LibraryofCongressCataloging-in-PublicationData
Names:Ortega,Romeo,1954-author.|Romero,J.G.,author.|Borja,
Pablo,author.|Donaire,Alejandro,author.
Title:PIDpassivity-basedcontrolofnonlinearsystemswithapplications/
RomeoOrtega,JoséGuadalupeRomero,PabloBorja,AlejandroDonaire.
Description:Hoboken,NewJersey:Wiley-IEEEPress,[2021]|Includes
index.
Identifiers:LCCN2021024088(print)|LCCN2021024089(ebook)|ISBN
9781119694168(cloth)|ISBN9781119694175(adobepdf)|ISBN
9781119694182(epub)
Subjects:LCSH:PIDcontrollers.|Nonlinearsystems.
Classification:LCCTJ223.P55O662021(print)|LCCTJ223.P55(ebook)|
DDC629.8/36–dc23
LCrecordavailableathttps://lccn.loc.gov/2021024088
LCebookrecordavailableathttps://lccn.loc.gov/2021024089
CoverDesign:Wiley
CoverImage:©marty8801/iStock/GettyImages
Setin9.5/12.5ptSTIXTwoTextbyStraive,Chennai,India
10 9 8 7 6 5 4 3 2 1
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Tothememoryofmymother–Romeo.
Tothememoryofmymother;andtoSalua,Patricia,LilianaandVianca
withallmylove–JoséGuadalupe.
ToCeliawithallmylove.Tomyparents,DianaandMario–Pablo.
ToDelfina,PhoebeandCristina–Alejandro.
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vii
Contents
AuthorBiographies xiii
Preface xvii
Acknowledgments xxi
Acronyms xxiii
Notation xxv
1 Introduction 1
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2 MotivationandBasicConstructionofPID
Passivity-BasedControl 5
2.1  -StabilityandOutputRegulationtoZero 5
2
2.2 Well-PosednessConditions 7
2.3 PID-PBCandtheDissipationObstacle 8
2.3.1 PassiveSystemsandtheDissipationObstacle 8
2.3.2 Steady-StateOperationandtheDissipationObstacle 9
2.4 PI-PBCwithy andControlbyInterconnection 10
0
Bibliography 12
3 UseofPassivityforAnalysisandTuningofPIDs:Two
PracticalExamples 15
3.1 TuningofthePIGainsforControlofInductionMotors 16
3.1.1 ProblemFormulation 18
3.1.2 ChangeofCoordinates 20
3.1.3 TuningRulesandPerformanceIntervals 22
3.1.4 ConcludingRemarks 26
3.2 PI-PBCofaFuelCellSystem 26
3.2.1 ControlProblemFormulation 29
3.2.2 LimitationsofCurrentControllersandtheRoleofPassivity 33
3.2.3 ModelLinearizationandUsefulProperties 34
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viii Contents
3.2.4 MainResult 36
3.2.5 AnAsymptoticallyStablePI-PBC 38
3.2.6 SimulationResults 40
3.2.7 ConcludingRemarksandFutureWork 42
Bibliography 44
4 PID-PBCforNonzeroRegulatedOutputReference 47
4.1 PI-PBCforGlobalTracking 48
4.1.1 PIGlobalTrackingProblem 49
4.1.2 ConstructionofaShiftedPassiveOutput 50
4.1.3 APIGlobalTrackingController 51
4.2 ConditionsforShiftedPassivityofGeneralNonlinear
Systems 52
4.2.1 ShiftedPassivityDefinition 52
4.2.2 MainResults 53
4.3 ConditionsforShiftedPassivityofPort-Hamiltonian
Systems 55
4.3.1 ProblemsFormulation 55
4.3.2 ShiftedPassivity 57
4.3.3 ShiftedPassifiabilityviaOutput-Feedback 58
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4.3.4 StabilityoftheForcedEquilibria 58
4.3.5 ApplicationtoQuadraticpHSystems 59
4.4 PI-PBCofPowerConverters 60
4.4.1 ModelofthePowerConverters 60
4.4.2 ConstructionofaShiftedPassiveOutput 61
4.4.3 PIStabilization 62
4.4.4 ApplicationtoaQuadraticBoostConverter 63
4.5 PI-PBCofHVDCPowerSystems 65
4.5.1 Background 65
4.5.2 Port-HamiltonianModeloftheSystem 67
4.5.3 MainResult 68
4.5.4 RelationofPI-PBCwithAkagi’sPQMethod 69
4.6 PI-PBCofWindEnergySystems 70
4.6.1 Background 70
4.6.2 SystemModel 71
4.6.3 ControlProblemFormulation 74
4.6.4 ProposedPI-PBC 75
4.7 ShiftedPassivityofPI-ControlledPermanentMagnet
SynchronousMotors 77
4.7.1 Background 77
4.7.2 MotorModels 78
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