Stabilization via Immersion and Invariance with the First Order Model of the CSC
The IDA-PBC methodology relies on the concept of exact model matching of the closed-loop system with a certain desired behaviour. Immersion and Invariance , on the other hand, is based on (a) immersing a lower order desired target dynamics onto a manifold in the original space, and (b) matching the closed-loop system with the immersed system asymptotically. The control objective is to make the immersed manifold attractive and invariant. This methodology, as it is based on the concept of asymptotic model matching, offers more flexibility over IDA-PBC.