Titlebook: Lagrangian and Hamiltonian Methods For Nonlinear Control 2006; Proceedings from the F. Allgüwer,P. Fleming,Kenji Fujimoto Conference procee

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An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems,the problem into a regulation problem in presence of input disturbances representing exogenous effects of possible faults; this can be solved following an adaptive internal model based approach. The theoretical machinery exploited is specialized for the energy-based port-Hamiltonian formalism in ord

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On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers, a generalization of Routhian reduction, . Routhian Reduction, which allows for the conserved quantities to be functions of the cyclic variables rather than constants. Since bipedal robotic walkers are naturally modeled as hybrid systems, which are inherently nonsmooth, in order to apply this framew

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Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry, generates gait trajectories which are solutions of a class of optimal control problems without using precise knowledge of the plant model. It is expected to produce natural gait movements such as that of a passive walker. Some numerical examples demonstrate the effectiveness of the proposed method.

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On the Interconnection Structures of Irreversible Physical Systems,e used to define the composition of port contact systems in the framework of contact geometry. We then propose a power-conserving interconnection structure, which generalizes the interconnection by Dirac structures in the Hamiltonian formalism. Furthermore, the composed system is again a port contac

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