Port-Hamiltonian approach

Breedveld P.C. (2009) Port-based modeling of dynamic systems. Chapter 1 and appendix A and B2. In Modeling and Control of Complex Physical Systems - The Port-Hamiltonian Approach, StramigioU S., MaccheUi A., Duindam V, Bruyninckx H. (eds). Springer, Berlin, pp. 1-52, 97-311, 323-328. 

Vol. 29 Secchi, C. Stramigioli, S. Fantuzzi, C. Control of Interactive Robotic Interfaces - A Port-Hamiltonian Approach 225 p. 2007 [978-3-540-49712-7]... 

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