Robust Regulation of Infinite-Dimensional Port-Hamiltonian Systems

We will give general sufficient conditions under which a controller achieves robust regulation for a boundary control and observation system. Utilizing these conditions, we construct a minimal-order robust controller for an arbitrary order impedance passive linear port-Hamiltonian system. The theoretical results are illustrated with a numerical example where we implement a controller for a 1-D Euler-Bernoulli beam with boundary controls and boundary observations.