A neural network learns port-Hamiltonian dynamics without forcing the Hamiltonian to be convex and preserves stability at multiple equilibria instead of only one.
Position control of chained mul- tiple mass-spring-damper systems-adaptive output feedback control approaches
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Structure- and Stability-Preserving Learning of Port-Hamiltonian Systems
A neural network learns port-Hamiltonian dynamics without forcing the Hamiltonian to be convex and preserves stability at multiple equilibria instead of only one.