摘要：AbstractThis paper has two objectives, first synthesize a discrete-time IDA-PBC for an underactuated port-Hamiltonian system, and second stabilize the angular position of an experimental testbed used in aerospace engineering. Based on the energetic integrator, the discrete-time methodology that exactly preserves the passivity property is presented for a linear Hamiltonian system with physical damping. A stability condition is given when taking the desired Hamiltonian as Lyapunov candidate function. The model of the spacecraft is composed of a rigid central body actuated by a torque motor around the vertical axis with two flexible appendages and a local mass at the tip of each appendage. Experiments are carried out to assess the validity of the more theoretical design methodology. The results show that the performances of our design results are better compared to an emulation controller obtained by sample and hold or Tustin transformation of the continuous-time controller.
