Publication Date:
2007
Short description:
Control of port-Hamiltonian systems / Secchi, C., Fantuzzi, C., Stramigioli, S. (SPRINGER TRACTS IN ADVANCED ROBOTICS). - In: Control of Interactive Robotic Interfaces[s.l] : Springer Verlag, 2007. - ISBN 9783540497127. - pp. 33-76 [10.1007/978-3-540-49715-8_2]
abstract:
Energy plays a central role in the control of physical systems since the "shape" of the energy is related to the stability properties of the system. In fact, it is well known from physics, that every configuration characterized by a (local) minimum of the energy exhibits a (locally) stable behavior. Unfortunately the configuration that naturally corresponds to a minimum of the energy is very seldom the desired configuration for the system. © 2007 Springer-Verlag Berlin Heidelberg.
Iris type:
Capitolo/Saggio
List of contributors:
Secchi, C.; Fantuzzi, C.; Stramigioli, S.
Book title:
Control of Interactive Robotic Interfaces
Published in: