Doctorant sous la direction de

**R. Ortega****Titre de la thèse:**Control by Interconnection of Port-Hamiltonian Systems

**Résumé de la thèse:**This thesis project is focused on Control by interconnection (CbI), which is a passivity-based control technique, mainly in its application to solve the regulation problem for a specific systems type, this is the called port-Hamiltonian (pH) systems. At this point is useful to remark that the passivity is an inherent property of some systems which grosso modo means that the system is not able to generate energy, hence if there are dissipative elements (such as a resistor) the system will converge to its minimum point of energy. The concept of energy is universal; this makes the passivity-based control so appealing, since it is known by almost all scientific and industrial fields. The main idea of the aforementioned technique is to take advantage of the fact that the pH systems are passive. Then, a dynamic controller represented as another pH system will be interconnected to the original plant via a power preserving interconnection sub-system, this means there are no losses of power due the interconnection of both systems therefore, recalling that the interconnection of two passives systems is another passive system, we can ensure stability properties for the new closed-loop system. Although this technique has been studied extensively, there are open problems which stymie its application. The objective of our work is to make more widely applicable the CbI technique solving some problems as the called dissipation obstacle or the difficult of solve the PDEs which arise during the control design, and answering to some open questions like the relationship with others passivity-based control techniques for pH systems, how to enlarge the set of solvable plants using coordinate changes and so on.