Stabilization of Discrete Port-Hamiltonian Dynamics via Interconnection and Damping Assignment

This letter deals with interconnection and damping assignment for discrete-time port-Hamiltonian systems. Based on a novel state representation, suitably shaped to address energy-based control design, the nonlinear discrete-time controller is characterized and the solution is explicitly computed in the linear case. The design worked out on the exact sampled-data model of a mechanical system confirms the effectiveness of the controller.