nonlinear systems

Among the promising non-classical control systems electromechanical systems, it can be distinguished the system of energy-based control, where the object is taken as port-controlled Hamiltonian system. The energy shaping control essence consists in forming the shape of energy based on formed task. The article raises the problem of the synthesis of energy-based control systems with nonlinearities. As example, it was selected DC motor with two-zones speed control and model, that takes into account the nonlinearity of the magnetization curve and variable time constant of the field loop.

Main energy-based methods for synthesis of control systems of port-controlled Hamiltonian systems were considered, in particular: passivity-based control, energy-balance approach, interconnection and damping assignment and their combination with elements from linear and nonlinear control system theory. There are shown examples of using such methods for nonlinear object — permanent magnet synchronous machine. Result of their computer research and detail analyzes are presented as well.