Energy based control of flexible optical fiber using the port Hamiltonian framework

The internship starts from February/March 2022 and end on July 2022, the time planning of the internship is following:
1. The intern will first have to do a solid literature review on dynamic modeling of Cosserat rod and energy-based control PHS formulations with the help of the project team. It will be based on the previous internship (Spring 2021)
2. The validation of PHS Cosserat rod model needs to be proceeded both on simulation and experimental setup of the optical fiber.
3. The intern needs to propose an energy-based control design method to control the tip of the optical fiber using the PHS formalism and validate on the experimental setup.

For more details please check the attached file.