PreprintarXiv licencearXiv
Funnel MPC for port-Hamiltonian systems
Abstract
Port-Hamiltonian systems are an energy-based modelling formalism, that has strong ties to the physical models and allows interconnection of systems. Funnel MPC, a Model Predictive Control (MPC) scheme, allows for output tracking with prescribed error bounds. Earlier works focused on systems with stable internal dynamics, which typically excludes port-Hamiltonian systems. We introduce a modified stage cost design that takes into account the port-Hamiltonian structure of the system and allows deactivation of the funnel cost. We show initial and recursive feasibility for a class of port-Hamiltonian systems with relative degree one including unstable internal dynamics.
Related
- Exponential stability of port-Hamiltonian systems with unstructured, measurable Hamiltonian densities
- Input-to-state stability of second-order port-Hamiltonian systems under nonlinear dynamic boundary feedback
- A class of port-Hamiltonian systems with general time delays
- Descriptor representations of geometric port-Hamiltonian systems on Hilbert spaces
- Nonlinear differential-algebraic systems with dissipative port-Hamiltonian structure
BibTeX
@misc{konitzer2026funnel,
title = {{Funnel MPC for port-Hamiltonian systems}},
author = {Loris Könitzer and Jonas Kirchhoff and Thomas Berger},
howpublished = {arXiv},
year = {2026},
month = nov,
doi = {10.48550/arxiv.2611.08015},
eprint = {2611.08015},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2611.08015},
}
RIS
TY - UNPB
TI - Funnel MPC for port-Hamiltonian systems
AU - Loris Könitzer
AU - Jonas Kirchhoff
AU - Thomas Berger
PY - 2026
DA - 2026/11/05
PB - arXiv
DO - 10.48550/arxiv.2611.08015
UR - https://arxiv.org/abs/2611.08015
AB - Port-Hamiltonian systems are an energy-based modelling formalism, that has strong ties to the physical models and allows interconnection of systems. Funnel MPC, a Model Predictive Control (MPC) scheme, allows for output tracking with prescribed error bounds. Earlier works focused on systems with stable internal dynamics, which typically excludes port-Hamiltonian systems. We introduce a modified stage cost design that takes into account the port-Hamiltonian structure of the system and allows deactivation of the funnel cost. We show initial and recursive feasibility for a class of port-Hamiltonian systems with relative degree one including unstable internal dynamics.
ER -