Introduction to modeling and control of port-Hamiltonian systems
Pre-LHMNC 2018 Workshop doctoral school 30 April – 1 May 2018, Universidad Técnica Federico Santa María, Valparaíso, Chile.
• The doctoral school is aimed at postgraduate students, academics and researchers in general.
• Registration fee is USD150 for the general public and FREE for LHMNC2018 participants. However, registration is required through the email: email@example.com
• A limited number of scholarships will be offered and applications should be sent to firstname.lastname@example.org
• More information: http://www.lhmnlc18.org/
Conservation of energy is a fundamental property shared by all physical systems. This feature is the base of physical modeling through the formalization of generalized interconnection laws (Kirchhoff's law). Bond-graphs, linear graphs and other network models rely on this principle. In network models the system is considered as the interconnection of energy storing elements together with energy dissipating elements via basic physical interconnection laws. The port-Hamiltonian framework formalizes this interconnection by a power preserving geometric structure, and defines the Hamiltonian function as the total energy stored in a system, thus, port-Hamiltonian systems (PHS) have direct physical interpretation and a particular geometric structure. Models based on energy approaches are very useful tools for engineers, since they are defined in terms of energy, which is a concept common to all engineering domains. They are specially interesting for control design since the closed loop energy function is a good Lyapunov candidate function for non linear control. It is particularly suited for passivity based control methods. At the end of the course the student will have acquired the basic notions on
• Formulation of lumped and distributed parameter dynamical systems using PHS models.
• Structured modeling of complex and multi-physical systems by interconnection of simple PHS and irreversible PHS models.
• Passivity based control of lumped and distributed parameter PHS.
• Discrete modeling, numerical approximation and spatial semi-discretization of distributed parameter PHS.
The course will have the following speakers:
Arjan van der Schaft, Johann Bernoulli Institute for Mathematics and Computer Science, University of Groningen, Groningen, The Netherlands.
Arjan J. van der Schaft was born in Vlaardingen, the Netherlands, in 1955. He received the Bachelor (1976) and Master degrees (1979) in Mathematics (cum laude), both from the University of Groningen, the Netherlands. In 1983 he defended his Ph.D. thesis at the Faculty of Mathematics and Natural Sciences of the University of Groningen, with Jan C. Willems acting as ‘promotor’. In 1982 he was appointed as Assistant Professor at the University of Twente, where he became an Associate Professor in 1987, and Full Professor in Mathematical Systems and Control Theory in 2000. In 2005 he returned to his Alma Mater as a Professor in Mathematics. Arjan van der Schaft is a Fellow of the Institute of Electrical and Electronics Engineers (IEEE), and Fellow of the International Federation of Automatic Control (IFAC). He was Invited Speaker at the International Congress of Mathematicians, Madrid, 2006, and co-received the SICE Takeda Best Paper Award in 2008. He was the 2013 recipient of the three-yearly awarded ‘Certificate of Excellent Achievements’ of the IFAC Technical Committee on Nonlinear Systems. He is (co-)author of the following books: System Theoretic Descriptions of Physical Systems (1984), Variational and Hamiltonian Control Systems (1987, with P.E. Crouch), Nonlinear Dynamical Control Systems (1990, 2016, with H. Nijmeijer), L2-Gain and Passivity Techniques in Nonlinear Control (1996, 2000, 2017), An Introduction to Hybrid Dynamical Systems (2000, with J.M. Schumacher), and Port-Hamiltonian Systems Theory: An Introductory Overview (2014, with D. Jeltsema). His research interests include mathematical systems theory, nonlinear systems and control, multi-domain physical systems and hybrid systems, and their applications in cyber–physical systems, power networks, and systems biology.
Bernhard Maschke, Laboratoire d'Automatique et de Génie des Procédés, University of Lyon, Lyon, France.
Bernhard Maschke was graduated as engineer in telecommunication at the Ecole Nationale Supérieure des Télécommunications (Paris, France) in 1984.
He received in 1990 his Ph. D. degree on the control of robots with flexible links and in 1998 the Habilitation to Direct Researches, both from the University of Paris– Sud (Orsay, France). From 1986 until 1990 he prepared his Ph. D. on the control of robots with flexible links at the Department of Advanced Robotics of the Commissariat à l’énergie Atomique. From 1990 until 2000 he has been associate professor at the Laboratory of Industrial Automation of the Conservatoire National des Arts et Métiers (Paris, France) and since 2000 he is professor in Control Engineering at the Laboratory of Control and Chemical Engineering of the University Claude Bernard of Lyon (Villeurbanne, France). His research interests include the modelling and control of multi-physical systems, port-Hamiltonian systems, passivity–based control and modelling and control of distributed parameter systems.
Yann Le Gorrec, FEMTO-ST, École Nationale Supérieure de Mécanique et des Microtechniques (ENSMM), Besançon, France.
Yann Le Gorrec received the Eng. degree in control, electronics, and computer engineering from the National Institute of Applied Sciences (INSA), Toulouse, France, in 1995, and the Ph.D. degree from the National Higher School of Aeronautics and Aerospace, Supaero, Toulouse, France, in 1998, with focus on robust control and self-scheduled controller synthesis. From 1999 to 2008, he was an Associate Professor in automatic control at the Labora- tory of Control and Chemical Engineering, Lyon Claude Bernard University (LAGEP), Villeurbanne, France. He has worked on port-Hamiltonian systems and their use for the modeling and control of irreversible and distributed parameter systems with an appli- cation to physico-chemical processes. Since September 2008, he has been a Professor at the National Engineering Institute in Mechanics and Microtechnologies. He is Deputy Director of the research department AS2M of the FEMTO-ST Institute. His current field of research is the control of nonlinear and infinite-dimensional systems with an application to smart material based actuators and boundary controlled systems. He is the co-author of about 50 journal papers on these research topics. Dr. Le Gorrec has been Co-Chair of the IFAC Technical Committee 2.6 on Distributed Parameter Systems since 2009, and since 2016, has been Chair of the IEEE Control Systems Society Technical Committee on Distributed Parameter Systems.
Alessandro Macchelli, Department of Electrical, Electronic, and Information Engineering "Guglielmo Marconi", University of Bologna, Bologna, Italy.
Alessandro Macchelli (1975) took the Laurea Degree cum laude and the PhD in Automatic Control and Operational research at the Department of Electronics, Computer Science and Systems (DEIS) of the University of Bologna in 2000 and 2003, respectively. He has been visiting scholar (sponsored by NACO2) at the University of Twente (The Netherlands) in 2001 and Post-Doc in 2003, cooperating with Prof. A. van der Schaft and Prof. S. Stramigioli. In 2004, he got a Post-Doc position at Department of Electronics, Computer Science, and Systems (DEIS) of the University of Bologna, and in April 2005, he joined DEIS as assistant professor in robotics and industrial automation. After 2005, he has been visiting professor at the Tongji University (Shanghai, China), at the Institute of Automatic Control and Control Systems Technology of the Johannes Kepler University Linz (Austria), at the National Engineering Institute in Mechanics and Micro-technologies (FEMTO-ST / AS2M) in Besançon (France), and at the Institute of Cyber-Systems & Control of the Zhejiang University in Hangzhou (China). His research activity is mainly focused on port-Hamiltonian systems, with particular emphasis on modelling, simulation and control of distributed parameter systems, and applications of the port-Hamiltonian framework to robotics and mechatronics. He is currently author of more than 50 journal and conference papers on these topics.
Hector Ramirez, University of Bourgogne Franche-Comté, FEMTO-ST, Besançon, France.
Hector Ramirez was born in Tomé, Chile, in 1981. He received the Eng. degree in electronic engineering and the M.Sc. degree in electrical engineering from the University of Concepción, Concepción, Chile, in 2006 and 2009, respectively. In 2012 he received the Ph.D. degree in automatic control from the University Claude Bernard, Lyon, France, and the Ph.D. in electrical engineering from the University of Concepción. In 2013 he joined the University of Bourgogne - Franche-Comté and the department of automatic control and micro mechatronic systems (AS2M) at the FEMTO-ST research institute in Besançon, France. His research interests include port-Hamiltonian systems, modelling and control of multi-physical systems and control of partial differential equations. He is member of the IFAC technical committee on nonlinear control systems (TC2.3) and the IEEE control systems society technical committee on distributed parameter systems (DSP)
Paul Kotyczka, Department of Mechanical Engineering, Technical University of Munich, Garching, Germany.
Paul Kotyczka (1979) received the Dipl.-Ing. degree in electrical engineering and the Dr.-Ing. degree in automatic control from Technical University of Munich in 2005 and 2010, respectively. Since 2011 he has been lecturer at the Institute of Automatic Control at TUM, where he leads the energy based modeling and control group. He was a visiting scholar with Prof. A. van der Schaft (University of Groningen, The Netherlands) in 2013, Prof. R. Banavar (IIT Bombay, Mumbai, India) in 2014 and Prof. L. Lefèvre (INP Grenoble, Valence, France) in 2017. From 2015 to 2017 he was a Marie Skłodowska-Curie Fellow with Prof. B. Maschke at Laboratoire d’Automatique et de Génie des Procédés (LAGEP), Université Claude Bernard Lyon 1 (Villeurbanne, France), where he contributed to raising the French-German research project Interconnected Infinite-Dimensional Systems for Heterogeneous Media (DFG-ANR INFIDHEM). His research interests include port-based modeling of physical systems, numerical methods for port-Hamiltonian systems and nonlinear energy-based control.
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Universidad Técnica Federico Santa María