Pith Number

pith:6SDLKT56

pith:2026:6SDLKT56HUKIPZHP4H6NKA3X4R

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Port-Hamiltonian Systems with Dissipation Potential: Modelling and Trajectory Tracking Control

Dapeng Jiang, Jinjun Jia, Kang An, Tiedong Zhang, Xun Yan, Yuchen Liao

Port-Hamiltonian systems with dissipation potentials enable PDE-free trajectory tracking via dual potential shaping.

arxiv:2605.12971 v1 · 2026-05-13 · eess.SY · cs.SY

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Claims

C1strongest claim

Dual Potential Shaping Control (DPSC) achieves trajectory tracking by sequentially shaping the potential energy and dissipation potentials without modifying the interconnection structure. The matching condition is satisfied automatically for any admissible choice of shaped potentials, requiring no PDE to be solved.

C2weakest assumption

That convex scalar dissipation potentials can be chosen to represent the momentum-dependent dynamics of the original system and that the hierarchical contraction argument guarantees closed-loop stability of the resulting cascade for admissible trajectories.

C3one line summary

Port-Hamiltonian systems with dissipation potential replace damping matrices with scalar convex potentials, enabling PDE-free trajectory tracking via dual potential shaping that preserves interconnection structure and physical interpretability.

References

17 extracted · 17 resolved · 0 Pith anchors

[1] On contrac- tion of time-varying port-hamiltonian systems 2019

[2] A constructive procedure for energy shaping of port—hamiltonian sys- tems 2016

[3] An in- troduction to interconnection and damping assignment passivity-based control in process engineering 2009

[4] Modeling and control of complex physical sys- tems: the port-Hamiltonian approach 2009

[5] Integral ida-pbc for underactuated mechanical systems subject to matched and unmatched disturbances 2024

Formal links

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Receipt and verification

First computed	2026-05-18T03:09:08.949574Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f486b54fbe3d1487e4efe1fcd50377e454a4f8cd3d225b194c1e694c0e6b6328

Aliases

arxiv: 2605.12971 · arxiv_version: 2605.12971v1 · doi: 10.48550/arxiv.2605.12971 · pith_short_12: 6SDLKT56HUKI · pith_short_16: 6SDLKT56HUKIPZHP · pith_short_8: 6SDLKT56

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curl -sH 'Accept: application/ld+json' https://pith.science/pith/6SDLKT56HUKIPZHP4H6NKA3X4R \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: f486b54fbe3d1487e4efe1fcd50377e454a4f8cd3d225b194c1e694c0e6b6328

Canonical record JSON

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      "cs.SY"
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    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-05-13T04:07:00Z",
    "title_canon_sha256": "8a5a24f128551c70393b27ab7c5d679c37bbc8a050eaad9672a786265eb5314d"
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  "source": {
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