Finite time simultaneous stabilization of two single input nonlinear port-controlled hamiltonian disturbed systems

This paper presents a novel approach for designing a composite controller that finite time simultaneously stabilizes two single input nonlinear Port-Controlled Hamiltonian (PCH) systems under disturbances. Firstly, using a single output feedback, two PCH systems are combined to generate an augmented PCH system based on the Hamiltonian structure properties. Then, a finite time disturbance observer (FTDO) is introduced to estimate disturbances and the estimation of disturbances is employed to feedforward compensate the disturbances. Next, a composite simultaneous stabilization controller is developed by combining the single output feedback, the FTDO and the finite time control techniques together. Finally, finite time stability analysis for the augmented PCH system is given. An example with simulations illustrates the effectiveness of the proposed method.