Gharesifard - M.S. student, Dep. of Mechanical Engineering, Shiraz University, Iran
Mahzoon - Assistant professor, Dep. of Mechanical Engineering, Shiraz University, Iran

The differential geometrical concepts combining with the Hamiltonian Dynamics lead to a new generation in control of systems with complex dynamical equation, named Geometric Mechanics and Control. This approach will revise the analytical mechanics in terms of geometrical structure. The importance of modeling for nonlinear control leads to a general theoretical framework, which is called Port-Controlled Hamiltonian Systems, which is a clue for the definition of a more general structure named Dirac structure, as a generalization of Poisson and Symplectic structure. In this paper the Infinite dimensional framework is defined using differential k- forms, exterior derivative and Stokes theorem. This general framework is exploited to find a general passive based controller framework for flexible rotating arms.

Dirac structure, Geometric Mechanics, Distributed Port Hamiltonian Systems, Casimir functional, Passivity Based Control