Abstract

We consider robust output regulation of passive infinite-dimensional linear port Hamiltonian systems. As the main result, we present a Lyapunov-based proof to show that a passive internal model based low-gain controller solves the control problem for stable port Hamiltonian systems. The theoretic results are used to construct a controller controller for robust output tracking of a piezoelectric tube model. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.