Damping Injection by Reset Control

Abstract

This paper presents a method for using reset control as an alternative way of obtaining dissipation for a class of port-Hamiltonian systems. One advantage of this approach is the simplicity of its implementation, which requires only a velocity observer. Another advantage is its robustness to modeling uncertainties, since it can be calculated independently of the plant structure. A gantry crane is selected as case study, yielding simulation and experimental results that show the good performance of this technique.