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 |
|
![]() |
Introduction to Physical Modelling (22 MB) |
![]() |
Distributed Port-Hamiltonian Systems Modelling and Control (44 MB) |
B. Maschke |
|
![]() |
Energy-based Control of Port-Hamiltonian Systems (2 MB) |
![]() |
Irreversible Port-Hamiltonian Systems. Modelling and Control (1 MB) |
![]() |
Slides (11 MB) |
C. Secchi |
|
![]() |
Passivity and Port-Hamiltonian Based Control for Advanced Robotics (18 MB) |
S. Stramigioli |
|
![]() |
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)