Observer design for classes of nonlinear port-Hamiltonian systems
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866917383024672768 |
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| author | Ugolini, Filippo Liu, Ning Wu, Yongxin Gorrec, Yann Le Macchelli, Alessandro |
| author_facet | Ugolini, Filippo Liu, Ning Wu, Yongxin Gorrec, Yann Le Macchelli, Alessandro |
| contents | This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range of electromechanical systems, including magnetic levitation systems, MEMS devices, and electro-active polymer actuators such as DEA actuators, HASEL actuators, etc. In these applications, state-dependent input matrices naturally arise when the system is modeled under quasi-static electrical assumptions. An LPV polytopic embedding framework, together with LMI-based synthesis conditions, is proposed. The nonlinear error dynamics are represented as a convex combination of linear vertex systems using an integral mean value representation, which enables systematic computation of the observer gains that ensures exponential convergence. Both constant-gain and gain-scheduled observers are derived. Numerical results demonstrate the effectiveness of the proposed observer, with the gain-scheduled design achieving a significant increase in the maximum certifiable decay rate compared with constant-gain approaches, thereby reducing conservatism. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_03151 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Observer design for classes of nonlinear port-Hamiltonian systems Ugolini, Filippo Liu, Ning Wu, Yongxin Gorrec, Yann Le Macchelli, Alessandro Optimization and Control This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range of electromechanical systems, including magnetic levitation systems, MEMS devices, and electro-active polymer actuators such as DEA actuators, HASEL actuators, etc. In these applications, state-dependent input matrices naturally arise when the system is modeled under quasi-static electrical assumptions. An LPV polytopic embedding framework, together with LMI-based synthesis conditions, is proposed. The nonlinear error dynamics are represented as a convex combination of linear vertex systems using an integral mean value representation, which enables systematic computation of the observer gains that ensures exponential convergence. Both constant-gain and gain-scheduled observers are derived. Numerical results demonstrate the effectiveness of the proposed observer, with the gain-scheduled design achieving a significant increase in the maximum certifiable decay rate compared with constant-gain approaches, thereby reducing conservatism. |
| title | Observer design for classes of nonlinear port-Hamiltonian systems |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2604.03151 |