Regulation and integral control of an underactuated robotic system using IDA-PBC with dynamic extension

This paper proposes a method for design of a set-point regulation controller with integral action for an underactuated robotic system. The robot is described as a port-Hamiltonian system, and the control design is based on a coordinate transformation and a dynamic extension. Both the change of coordinates and the dynamic extension add extra degrees of freedom that facilitate the solution of the matching equation associated with interconnection and damping assignment passivity-based control designs (IDA-PBC). The stability of the controlled system is proved using the closed loop Hamiltonian as a Lyapunov candidate function. The performance of the proposed controller is shown in simulation.

Active control of car suspension systems using IDA-PBC

This paper considers the design of active control for car suspension systems using a particular form of energy-based control called Interconnection-and-Damping-Assignment Passivity-Based Control (IDA-PBC). This approach allows one to shape the kinetic and potential energy as well as modify the power flow among different components of the system by changing the interconnection and dissipative structure in a meaningful way. Different controller parameterisations are considered to design a class of controllers for active suspension systems.

A Novel Approach for Designing Generator Excitation controllers Using the IDA-PBC Technique

This paper presents a novel approach for designing of generator excitation controllers using Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) technique for a Single Machine Infinite Bus (SMIB) system that can also be directly used in a multi-machine environment. The generator system equations are modified by referencing the rotor angle with respect to the secondary of the transformer bus instead of the infinite bus. For the modified system equations, IDA-PBC is applied to stabilize the system around an operating condition. The IDA-PBC design results in a Lyapunov function for the modified system. The new control law is practically feasible and can be applied directly to multi-machine system without referring to external system parameters. The effectiveness of the proposed controller is tested on a SMIB and a 10 generator 39 bus test system for a range of operating conditions. The Proposed excitation controller has shown good performance for both small and large disturbances when compared to the performance of a conventional static exciter with power system stabilizer.

Reproduction of portrait of Ida Dehmel, founder of Gedak Portraits; Women

Verso: Ida Dehmel als sie 1927 die Gedak gruendete

Reproduction of Richard Dehmel reading with his wife Ida Dehmel nee Auerbach sitting across from him, early in their marriage; Parkstrasse, Hamburg Portraits; Couples

Verso: Erste Wohnung Parkstrasse Fruehzeit der Ehe 1901

Portrait of Walter Godshaw, Charlie Sloan (Karl-Hermann Solomon), and Ida, Kaete Solomon's maid; Hannover, Germany.

From left to right: Walter Gottschalk, Ida, Charlie Sloan (Karl Hermann Solomon); Ida, Kaete Solomon's maid, nursed Charlie back to health after his release from Dachau

Portrait of Walter Godshaw, Charlie Sloan (Karl-Hermann Solomon), and Ida, Kaete Solomon's maid; Hannover, Germany.

From left to right: Walter Gottschalk, Ida, Charlie Sloan (Karl Hermann Solomon); Ida, Kaete Solomon's maid, nursed Charlie back to health after his release from Dachau

Sina Ida Judey outdoors holding flowers Portraits Women

Sina Ida was the youngest of the Judey siblings (Jacob, Lydia and Mary) and the only one to perish under the Nazis in Berlin

Portrait of Walter Godshaw, Charlie Sloan (Karl-Hermann Solomon), and Ida, Kaete Solomon's maid; Hannover, Germany.

From left to right: Walter Gottschalk, Ida, Charlie Sloan (Karl Hermann Solomon); Ida, Kaete Solomon's maid, nursed Charlie back to health after his release from Dachau

Portrait of Walter Godshaw, Charlie Sloan (Karl-Hermann Solomon), and Ida, Kaete Solomon's maid; Hannover, Germany.

From left to right: Walter Gottschalk, Ida, Charlie Sloan (Karl Hermann Solomon); Ida, Kaete Solomon's maid, nursed Charlie back to health after his release from Dachau

Ida Teutler with her daughter and father Portraits Family

Includes photos from Ida Teutler's daughter's wedding

Syntheses and structures of Na-2[Zn-II(ida)(2)].7H(2)O and Na-4[Hg-II(nta)(2)].7H(2)O

The title complexes were synthesized and the crystal structures of their salts were determined by single-crystal X-ray structure analyses. Na-2[Zn-I(ida)(2)]. 7H(2)O: Triclinic, P1, a=0.523 4(2) nm, b=0.897 10(10) nm, c=1.069 10(10) nm, alpha=85.910(10)degrees, beta= 76.380(10)degrees, gamma=83.52(2)degrees, V=0.484 2(2) nm(3), Z=1. The complex anion [Zn-I (ida)(2)](2-) has a pseudo-octahedral structure in which the two N atoms: are in a trans configuration. Na-4[Hg-I(nta)(2)]. 7H(2)O: Monoclinic, C-c, a = 1.795 0(4) nm, b = 0.892 9(2)nm, c = 1.575 4(2) nm, beta = 92.78 (3)degrees, V = 2.526 2(9) nm(3), Z = 4. The complex anion [Hg-I (nta)(2)](4-) has a pseudo-bicapped-octahedral structure in which the two N atoms are in a trans configuration.

Na_2[Zn~Ⅱ(ida)_2]·7H_2O和Na_4[Hg~Ⅱ(nta)_2]·7H_2O的合成及结构测定

金属离子ＺｎⅡ和ＨｇⅡ分别是生物体必需的微量元素和对人体有害的毒性金属．如何有效地摄取ＺｎⅡ和排除ＨｇⅡ一直是化学家感兴趣的研究课题．而ＺｎⅡ和ＨｇⅡ能与各种氨基酸形成配合物，由于它们处于同一族，电子结构都是ｄ１０，故其配位结构只取决于金属离子半径的…

金属-氨基多羧酸类配合物分子和晶体结构 Ⅰ.Na_2[Fe~Ⅲ(ida)_2]_2·3H_2O配合物的合成及结构测定

氨基多羧酸类配合物的配位数和结构不但与金属离子的半径、电荷和电子结构有关，而且还与氨基多羧酸类配体的形状和大小有关。本文报道了Ｎａ２［ＦｅⅢ（ｉｄａ）２］２·３Ｈ２Ｏ（ｉｄａ＝亚氨基二乙酸根）配合物的合成并测定了它的分子结构和晶体结构。具体结果如下：单斜晶系，Ｐ２１／ｃ空间群，ａ＝１５．６４８０（１０），ｂ＝１６．７８７０（１０），ｃ＝１０．３４７（２），β＝９０．７９０（１０）°，Ｖ＝２７１７．７（６）３，单位晶胞中的分子数为３，对于４７８９个独立的衍射点，它的Ｒ值为０．０３３３。其中两个配合物离子［ＦｅⅢ（ｉｄａ）２］－都是Ｎ和Ｎ顺位的变形八面体结构。由此可知具有对称电子结构（ｈｉｇｈ－ｓｐｉｎｄ５）的ＦｅⅢ与被看成是ｅｄｔａ（＝乙二胺四乙酸根）去掉了ＣＨ２－ＣＨ２的双ｉｄａ配体形成的配合物只能选择六配位八面体结构。