Defence Najmeh Javanmardi: "Energy shaping control methods for mechanical and electromechanical systems"

Promotors: 1^st promotor: Prof J. M. A. Scherpen, 2 nd promotor: Prof. M. J. Yazdanpanah

Abstract: Many engineering challenges, particularly in modeling and controlling complex and multi-physics systems, require approaches that bridge the physical aspects of real-world systems with mathematical frameworks. This work focuses on developing control methods to address stabilization and trajectory-tracking problems in specific classes of physical systems. These methods are based on energy-shaping approaches developed within the port-Hamiltonian (pH) framework, which preserves the physical interpretation of systems. In pH modeling, systems are represented as interconnections of energy-storing and energy-dissipating components, exchanging energy through power ports. Therefore, we utilize the pH framework to propose robust and physically interpretable nonlinear controllers. Moreover, the pH framework enables the design of controllers that address practical issues in mechanical, electromechanical, and networked systems.

Dissertation