Preprints
[*] Cristobal Ponce, Yongxin Wu, Yann Le Gorrec, Hector Ramirez. Structure-preserving discretization of multidimensional linear port-Hamiltonian systems using mixed FEM approaches. CDC. Under review. 2024
[*] Mario Spirito, Yann Le Gorrec, Bernhard Maschke. Structure-preserving Observers for port-Hamiltonian systems via contraction analysis. IEEE Transaction on Automatic Control. Under review. 2024
Journal Papers (published)
| J Zhao, Y Wu, Y Wu, Y Le Gorrec. A privacy preserving distributed controller for the general formation of multi-agent systems in port-Hamiltonian formAutomatica, 2025, 179, 112452 |
N Cisneros, Y Wu, K Rabenorosoa, Y Le Gorrec, Dynamic modeling of a curling HASEL actuator using the port Hamiltonian framework with experimental validation, Mechatronics, 2025, 109, 103342
M Spirito, B Maschke, Y Le Gorrec. Beyond Singular Perturbation for linear port-Hamiltonian systems. European Journal of Control, 2025, 101237
J.Toledo, D.Matignon, C. Poussot-Vassal, Y. Le Gorrec. Structure-Preserving Discretization and Band-Frequency Reduction of Boundary-Controlled 1D Port-Hamiltonian Systems. Systems and Control Letters. Volume 194, December 2024, 105947
C. Ponce, H. Ramirez, Y. Le Gorrec. Reduced order model based energy shaping control of linear port-Hamiltonian systems. Automatica. Volume 161, 2025, 111500
F.L. Cardoso-Ribeiro, G. HainePort, Y. Le Gorrec, D. Matignon, H. Ramirez. Hamiltonian formulations for the modeling, simulation and control of fluids. Computers and Fluids. To appear, 2024.
H. Ramirez, Y. Le Gorrec. Interconnection of Irreversible port Hamiltonian Systems. Automatica. 170, 111846, 2024
C Ponce, Y Wu, Y Le Gorrec, H Ramirez. A systematic methodology for port-Hamiltonian modeling of multidimensional flexible linear mechanical systems. Applied Mathematical Modelling, 2024, 134, 434-451
C. Ponce, H. Ramirez, Y. Wu, Y. Le Gorrec. Port-Hamiltonian modeling of multidimensional flexible mechanical structures defined by linear elastic relations. AMM. Volume 134, October 2024, Pages 434-451
L.A. Mora, Y. Le Gorrec, H. Ramirez. Energy-shaping and entropy-assignment boundary control of the heat equation. Systems and Control Letters, Volume 189, July 2024, 105821.
N. Liu, Y. Wu, Y. Le Gorrec, H. Ramirez, L. Lefèvre . Reduced order in domain control of distributed port-Hamiltonian systems via energy shaping. Automatica, Volume 161, 111500, https://doi.org/10.1016/j.automatica.2023.111500, March 2024.
J. Redaud, J. Auriol, Y. Le Gorrec. In domain dissipation assignment of boundary controlled Port-Hamiltonian systems using backstepping, Systems and Control Letters, Volume 185, 105722, https://doi.org/10.1016/j.sysconle.2024.105722, March 2024.
A. Mattioni, Y. Wu, Y. Le Gorrec. Lyapunov approach for the exponential stability of a damped Timoshenko beam. IEEE Transactions on Automatic Control, Volume: 68, Issue: 12, December 2023.
J.P. Toledo Zucco, Y. Wu, H. Ramirez, Y. Le Gorrec. Infinite-dimensional observers for high order boundary-controlled port-Hamiltonian systems. IEEE Control Systems Letters (L-CSS), 1676 – 1681, May 2023 DOI:10.1109/LCSYS.2023.3278252
E. Pérez Eyala, Y. Wu, K. Ranenorosoa, Y. Le Gorrec. Energy based modeling and control of a piezo tube actuated optical fiber. IEEE Transactions on Mechatronics. Volume: 28, Issue: 1, February 2023. DOI:10.1109/TMECH.2022.3199566
H. Ramirez, Y. Le Gorrec. An Overview on Irreversible Port-Hamiltonian Systems. Entropy 2022, 24(10), 1478; https://doi.org/10.3390/e24101478
J. Toledo, Y. Wu, H. Ramirez, Y. Le Gorrec. Linear Matrix Inequality Design of Observer-Based Controllers for port-Hamiltonian Systems, IEEE Transactions on Automatic Control, 2022. DOI: 10.1109/TAC.2022.3227927.
Y. Yeh, N. Cisneros, Y. Wu, K. Rabenorosoa, Y. Le Gorrec. Modeling and Position Control of the HASEL Actuator via port-Hamiltonian Approach, IEEE Robotics and Automation Letters, Volume: 7, Issue: 3, July 2022. 10.1109/LRA.2022.3181365
A. Macchelli, Y. Le Gorrec, H. Ramirez. Stabilisation of Unstable Distributed Port-Hamiltonian Systems in Scattering Form, IEEE Control Systems Letters. Vol 6, pp 3116 – 3121. 2022. DOI: 10.1109/LCSYS.2022.3182967
A. Mattioni, Y. Wu, Y. Le Gorrec, H. Zwart. Stabilization of a Class of Mixed ODE-PDE port-Hamiltonian Systems with Strong Dissipation Feedback, Automatica, Volume 142, August 2022, 110284, 2022.https://doi.org/10.1016/j.automatica.2022.110284
Y. Le Gorrec, H. Ramirez, Y. Wu, N. Liu, A. Macchelli. Energy Shaping Control of 1D Distributed Parameter Systems. Advances in Distributed Parameter Systems. Advances in Delays and Dynamics, vol 14. Springer, Cham. 2022. https://doi.org/10.1007/978-3-030-94766-8_1
H. Ramirez, Y. le Gorrec, B. Maschke. Boundary controlled irreversible port-Hamiltonian systems. Chemical Engineering Science. Volume 248, Part A, 2 February 2022, 117107
W. Zhou, N. Liu, Y. Wu, H. Ramirez, Y. Le Gorrec. Energy-based modeling and Hamiltonian LQG control of a flexible beam actuated by IPMC actuators, IEEE Access, Volume 10, pp. 12153-12163 . 2022
L.A. Mora, Y. Le Gorrec, D. Matignon, H. Ramirez and J. Yuz. On port-Hamiltonian formulation of 3-Dimensional compressible Newtonian fluids. Physics of Fluids. November 2021. https://doi.org/10.1063/5.0067784
DOI: 10.1063/5.0067784
W. Zhou, B. Hamroun, Y. Le Gorrec, F. Couenne. A thermodynamic approach to the stabilisation of tubular reactors. Journal of Process Control. Volume 108, December 2021, Pages 98-111. https://doi.org/10.1016/j.jprocont.2021.11.006
A Macchelli, Y Le Gorrec, H Ramírez, H Zwart, F Califano. Control Design for Linear Port-Hamiltonian Boundary Control Systems: An Overview. Stabilization of Distributed Parameter Systems: Design Methods and Applications. Springer International Publishing. 57-72. 2021
L. Paunonen, Y. Le Gorrec, H. Ramirez. A Lyapunov Approach to Robust Regulation of Distributed Port Hamiltonian Systems, IEEE Transactions on Automatic Control, Volume: 66, Issue: 12, Dec. 2021. 10.1109/TAC.2021.3069679
N. Liu, Y. Wu, Y. Le Gorrec, Energy based modeling of ionic polymer metal composite actuators dedicated to the control of flexible structures, in IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2021.3053609. 2021
Y. Wu, B. Hamroun, Y. Le Gorrec, B. Maschke. Reduced Order LQG Control Design for Infinite Dimensional Port Hamiltonian Systems. IEEE Transactions on Automatic Control, doi:10.1109/TAC.2020.2997373, Volume: 66, Issue: 2, 865 – 871, Feb. 2021
N. Liu, Y. Wu, Y. Le Gorrec, H. Ramirez, L. Lefèvre. Structure-preserving discretization and control of a 2D vibro-acoustic tube, IMA Journal of Mathematical Control and Information, dnaa028, https://doi.org/10.1093/imamci/dnaa028 , 2020.
L. Mora, H. Ramirez, J. Yuz, Y. Le Gorrec, M. Zanartu. Energy-based fluid-structure model of the vocal folds, IMA Journal of Mathematical Control and Information, dnaa031, https://doi.org/10.1093/imamci/dnaa031 , 2020.
A. Macchelli, Y. Le Gorrec, H. Ramirez. Exponential Stabilisation of Port-Hamiltonian Boundary Control Systems via Energy-Shaping. IEEE Transactions on Automatic Control, vol. 65, no. 10, pp. 4440-4447, Oct. 2020
J. Toledo, Y. Wu, H. Ramirez, Y. Le Gorrec. Observer-based boundary control of distributed port-Hamiltonian systems. Automatica, Volume 120, 2020, https://authors.elsevier.com/a/1bRPL1AMv1YUv
L. Mora, Y. Le Gorrec, H. Ramirez, J. Yuz. Fluid-Structure Port-Hamiltonian Model for Incompressible Flows in Pipes with Time Varying Geometries. Mathematical and Computer Modelling of Dynamical Systems,Volume 26, Issue 5, Pages 409-433, 2020. https://www.tandfonline.com/doi/full/10.1080/13873954.2020.1786841.
A. Mattioni, Y.Wu, Y. Le Gorrec. Infinite dimensional model of a double flexible-link manipulator : the port-Hamiltonian approach. Applied Mathematical Modelling, Volume 83, Pages 59-75, July 2020.
A. Mattioni, Y. Wu, H. Ramirez, A. Macchelli, Y. Le Gorrec. Modelling and control of an IPMC actuated flexible structure : A port Hamiltonian approach, Control Engineering Practice, Volume 101, 104498, https://doi.org/10.1016/j.conengprac.2020.104498, August 2020.
V. Trenchant, H. Ramirez, P. Kotyczka, Y. Le Gorrec. Finite differences on staggered grids preserving the port-Hamiltonian structure with application to an acoustic duct. Journal of Computational Physics, Volume 373, Pages 673-697, November 2018.
Y. Wu, B. Hammroun, Y. Le Gorrec and B. Maschke. Reduced order LQG control design for port Hamiltonian systems. Automatica, Volume 95, Pages 86-92, September 2018.
D. Habineza, M. Zouari, Y. Le Gorrec, and M. Rakotondrabe. Multivariable compensation of hysteresis, creep, badly damped oscillations and cross-couplings in multi-axes piezoelectric actuators. IEEE Transactions on Automation Science and Engineering, Volume 15, Issue 4, Pages 1639-1653, October 2018.
H. Ramirez, H. Zwart, Y. Le Gorrec. Stabilization of infinite dimensional port-Hamiltonian systems by nonlinear dynamic boundary control. Automatica, Volume 85, 2017, Pages 61-69, 2017.
H. Hoang, D. Dochain, F. Couenne and Y. le Gorrec. Dissipative pseudo Hamiltonian realization of irreversible processes : The CSTR case study revisited. Mathematical and Computer Modelling of Dynamical Systems, Volume 23, Isue 2, Pages 135-155, 2017.
A. Macchelli, Y. Le Gorrec, H. Ramirez, and H. Zwart. On the Synthesis of Boundary Control Laws for Distributed Port-Hamiltonian Systems. IEEE Transactions on Automatic Control. Volume 62, Issue 5 (May), 2017.
A. Macchelli, Y. Le Gorrec, H. Ramirez. Boundary Energy-Shaping Control of an Isothermal Tubular Reactor. Mathematical and Computer Modelling of Dynamical Systems, Volume 23, Issue 1, 2017.
W. Zhou, B. Hamroun, F. Couenne and Y. Le Gorrec. Distributed port Hamiltonian Modelling for irreversible processes. Mathematical and Computer Modelling of Dynamical Systems, Volume 23, Issue 1, 2017.
H. Zwart, Y. Le Gorrec and B. Maschke. Building systems from simple hyperbolic ones. Systems and Control Letters, Volume 91, Pages 1-6, May 2016.
H. Ramirez, Y. Le Gorrec, B. Maschke, F. Couenne. On the passivity based control of irreversible processes : a port-Hamiltonian approach. Automatica, Volume 64, Pages 105–111, February 2016.
D. Habineza, M. Rakotondrabe, Y. Le Gorrec. Characterization, Modeling and H∞ Control of n-DOF Piezoelectric Actuators : Application to a 3-DOF Precise Positioner. Asian Journal of Control, Vol. 18, Issue 5, September 2016.
M. Gaudenzi de Faria, Y. Haddab,Y. Le Gorrec and P. Lutz. Influence of mechanical noise inside a scanning electron microscope. Review of Scientific Instruments, Vol.86, Issue 4, April 2015.
M. Boudaoud, M. Gaudenzi, Y. Le Gorrec, Y. Haddab, P. Lutz. Robust Microscale Grasping Using a Self Scheduled Dynamic Controller : Design and Real Time Implementation. Control Engineering Practice, Volume 39, jun 2015, Pages :12-22, 2015.
D. Habineza, M. Rakotondrabe and Y. Le Gorrec. Bouc-Wen Modeling and Feedforward Control of multi- variable Hysteresis in Piezoelectric Systems : Application to a 3-DoF Piezotube scanner. IEEE Transactions on Control Systems Technology, Volume :23, Issue : 5, September 2015.
H. Zwart, Y. Le Gorrec and B. Maschke. Relating systems properties of the wave and the Schrodinger equation. AIMS, Evolution Equations and Control Theory (EECT), Vol 4, no. 2 (May 2015), Pages : 233-240, 2015
M. Boudaoud, Y. Le Gorrec, Y. Haddab and P. Lutz. Gain scheduling control of a nonlinear electrostatic microgripper : design by an eigenstructure assignment with an observer based structure. IEEE Transactions on Control Systems Technology, Volume 23 (4), Pages 1255 – 1267, February 2015
H. Ramirez, Y. Le Gorrec, A. Macchelli and H. Zwart. Exponential stabilization of boundary controlled port-Hamiltonian systems with dynamic feedback. IEEE Transaction on Automatic Control, Volume 59 (10), Pages 2849 – 2855, April, 2014
N. Lafitte, Y. Haddab, Y. Le Gorrec, H. Guillou, M. Kumemura, L. Jalabert, D. Collard and H. Fujita. Improvement of silicon nanotweezers sensitivity for mechanical characterization of biomolecules using closed-loop control. IEEE/ASME Transactions on Mechatronics, Volume 20 (3), Pages 1418 – 1427, 2014.
M. Boudaoud, Y. Le Gorrec, Y. Haddab, P. Lutz. An Output feedback LPV control strategy of a nonlinear electrostatic microgripper through a singular implicit modeling. Control Engineering Practice, Volume 28, July 2014, Pages 97-111, 2014.
H. Hoang, F. Couenne, Y. Le Gorrec, C.L. Chen, B. Erik Ydstie. Passivity-based nonlinear control of CSTR via asymptotic observers. Annual Review on Control, Vol. 37 (2), Pages 278-288, 2013.
Y. Le Gorrec and D. Matignon. Coupling between hyperbolic and diffusive systems : a port-Hamiltonian formulation. European Journal of Control, Vol. 19 (6), Pages 505-512, 2013.
H.Hoang, F.Couenne, C.Jallut, Y. Le Gorrec. Thermodynamics based analysis of stability and its use for nonlinear stabilization of CSTR. Computers & Chemical Engineering, Vol. 58, Pages 156-177, 2013.
Book Chapters
N.R. Calchand, A. Hubert, Y. Le Gorrec and H. Ramirez, Structured Energy Approach for the Modeling of Flexible Structures, Chapter 3 in ”Flexible Robotics : Applications to Multiscale Manipulations”. Editors : M. Grossard, S. R´egnier, and N. Chaillet, Publisher : John Wiley and Sons, Inc. Great Britain, 2013.
N. R. Calchand, A. Hubert, Y. Le Gorrec , H. Ramirez Estay, Approches énergétiques structurées pour la modélisation des structures flexibles. Structures flexibles -Applications à la manipulation robotique multi-échelle / Flexible structures – Application to multiscale robotic manipulation, Hermes Edition Traité IC2, série Systèmes automatisés. Editors : M. Grossard, S. Régnier, and N. Chaillet, Publisher : Hermes Science, France, 2013.
N. Lafitte, Y. Haddab, Y. Le Gorrec, M. Kumemura, L. Jalabert, N. Chaillet, D. Collard and H. Fujita. DNA manipulation based on nanotweezers, in Encyclopedia of Nanotechnology 2012, pp 577-583, Springer.
ISBN 978-90-481-9750-7
M. Boudaoud, Y. Haddab, and Y. Le Gorrec. Kalman Filtering Applied to Weak Force, Measurement and Control in the Microworld : Signal Measurement and Estimation Techniques for Micro and Nanotechnology,
C. Clevy, M. Rakotondrabe and N. Chaillet (Eds.) Springer-Verlag New York Inc., March 2011, ISBN : 978-1441999450
F. Couenne, C. Jallut, L. Lefèvre, Y. Le Gorrec , B. M. Maschke and M. Tayakout. Port-Based Modeling in Different Domains,(pp172-209) Modeling and Control of Complex Physical Systems : The Port-Hamiltonian Approach, Duindam, V. ; Macchelli, A. ; Stramigioli, S. ; Bruyninckx, H. (Eds.) Springer 2009, ISBN : 978-3-642- 03195-3
Magni J.F. and Y. Le Gorrec.La commande modale multimodèle. Traité IC2 Hermes, Conception de commandes robustes, pages : 155-189, Lavoisier 2002.
Y. Le Gorrec and Magni J.F. La commande modale multivariable. Traité IC2 Hermes, Commande des systèmes linéaires, pages: 197-233, Lavoisier 2002.
C. Döll, J.F. Magni, and Y. Le Gorrec. RCAM Design Challenge : The Modal Approach, volume Robust Flight Control. 1997.