In this page you can find the material of the Port-Hamiltonian modelling and passivity-based control of physical systems. Theory and applications course.
| A. Macchelli |
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Introduction to Physical Modelling (22 MB) |
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Distributed Port-Hamiltonian Systems Modelling and Control (44 MB) |
| B. Maschke |
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Energy-based Control of Port-Hamiltonian Systems (2 MB) |
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Irreversible Port-Hamiltonian Systems. Modelling and Control (1 MB) |
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Slides (11 MB) |
| C. Secchi |
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Passivity and Port-Hamiltonian Based Control for Advanced Robotics (18 MB) |
| S. Stramigioli |
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Energy Aware Robotics (34 MB) |
Download of all of the files – Part 1 (61 MB)
Download of all of the files – Part 2 (52 MB)