Title: Constructive Decomposition of the Design Parameters in IDA-PBC (½ hour)
Abstract: We consider the interconnection and damping assignment passivity-based control (IDA-PBC) methodology with a possibly state-dependent interconnection and damping structure. The imposed structure of closed-loop port-Hamiltonian system is motivated by a local decomposition of the tangent and cotangent space, which yields a decomposition of the design parameters. Some geometric perspectives of IDA-PBC are presented.