Achievable Casimirs and its implications on control of port-Hamiltonian systems

In this paper we extend results on interconnections of port-Hamiltonian systems to infinite-dimensional port-Hamiltonian systems and to mixed finite and infinite dimensional port-Hamiltonian systems. The problem of achievable Dirac structures is now studied for systems with dissipation, in the finite-dimensional, infinite-dimensional and the mixed finite and infinite-dimensional case. We also characterize the set of achievable Casimirs and study its application for the control of port-Hamiltonian systems.