Optimization-based control by interconnection of nonlinear port-Hamiltonian systems
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866914332675145728 |
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| author | Preuster, Till Gernandt, Hannes Schaller, Manuel |
| author_facet | Preuster, Till Gernandt, Hannes Schaller, Manuel |
| contents | In this paper, we formulate an optimization-based control-by-interconnection approach to the stabilization problem of nonlinear port-Hamiltonian systems. Motivated by model predictive control, the feedback is defined as an initial part of a suboptimal solution of a finite horizon optimal control problem. To this end, we write the optimization method given by a primal-dual gradient dynamics arising from a possibly control-constrained optimal control problem as a port-Hamiltonian system. Then, using the port-Hamiltonian structure of the plant, we show that the MPC-type feedback law is indeed a structure-preserving interconnection of two port-Hamiltonian systems. We prove that, under an observability assumption, the interconnected system asymptotically stabilizes the plant dynamics. We illustrate the theoretical results by means of a numerical example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_06670 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Optimization-based control by interconnection of nonlinear port-Hamiltonian systems Preuster, Till Gernandt, Hannes Schaller, Manuel Optimization and Control 93D15 (Primary) 93B45, 47H05 (Secondary) In this paper, we formulate an optimization-based control-by-interconnection approach to the stabilization problem of nonlinear port-Hamiltonian systems. Motivated by model predictive control, the feedback is defined as an initial part of a suboptimal solution of a finite horizon optimal control problem. To this end, we write the optimization method given by a primal-dual gradient dynamics arising from a possibly control-constrained optimal control problem as a port-Hamiltonian system. Then, using the port-Hamiltonian structure of the plant, we show that the MPC-type feedback law is indeed a structure-preserving interconnection of two port-Hamiltonian systems. We prove that, under an observability assumption, the interconnected system asymptotically stabilizes the plant dynamics. We illustrate the theoretical results by means of a numerical example. |
| title | Optimization-based control by interconnection of nonlinear port-Hamiltonian systems |
| topic | Optimization and Control 93D15 (Primary) 93B45, 47H05 (Secondary) |
| url | https://arxiv.org/abs/2602.06670 |