Control design method of Hamiltonian structure modified and its application

The main difficulty is to derive the modified energy function H a( x) in designing the control law for interconnection and damping assignment passivity-based control( IDA-PBC). A design approach of control law,which could avoid that difficulty,was proposed. A composition mode that control law were composed by stabilization control at given equilibrium point and additional control in IDA-PBC was proposed,in which added relative factors in structure and damping matrix can play a role by additional control item. Furthermore,equation of the stabilization control and was solved explicit expressions of the additional control were derived,and stability conditions of closed loop were derived. Taking Hamiltonian model of hydro turbine generating units as example,the application steps of this design method were introduced. This method,in which control can be calculated with modified interconnection and damping matrix directly,and the limit of relative factors are determined by the definite condition of Hessian matrix,is simple and validity