Energy dissipation control and its applications

A robust control is discussed for a certain class of nonlinear mechanical and distributed parameter systems whose desired state may correspond to a mechanical energy level of zero. In such systems, the control objectives are achieved by only dissipating their physical energy. The design procedures were formulated to obtain an asymptotically stable controller. As application examples, the load-swing suppression control of a crane system and the vibration control of a flexible arm where demonstrated. The controllers were found to have large robustness against the changes of the parameter values of the system, as predicted by the theory