Reset control for injecting dissipation into port-hamiltonian systems

This paper focuses on the use of reset control as an alternative way of obtaining dissipation for a class of port-Hamiltonian systems. One advantage of this approach is the simplicity of its implementation, since it requires only a velocity observer. Another advantage is its robustness, as it can be calculated independently of the plant structure. A gantry crane is selected as case study, yielding simulation and experimental results that show the good performance of this method.