Selective excitation of identical conservative port-Hamiltonian systems by a single control

A generalization of the results obtained earlier in M. S. Ananyevskiy, A. L. Fradkov, and H. Nijmeijer; Control of mechanical systems with constraints: two pendulums case study, IFAC Proceedings Volumes, vol. 41, no. 2, pp. 7690-7694, 2008. is presented. Three control problems for complex systems consisting of port-Hamiltonian subsystems are formulated. In particular, the problem of exciting a number of identical port-Hamiltonian systems to given (not necessarily equal) energy levels while ensuring strict bounds on the energy levels of remaining systems is studied. Solvability conditions based on speed-gradient control are established. The obtained results are illustrated by numerical simulations.