Author

Rajpal Singh

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Preprint Sep 2026

Port-Hamiltonian Koopman Operator Synthesis for Mechanical Systems

This work presents a structure-preserving Koopman framework for Euler-Lagrange systems built on generalized-momentum coordinates, and demonstrates improved prediction accuracy, data efficiency, and closed-loop tracking over Koopman baselines, with increasing gains for higher-dimensional systems.

Rajpal Singh, Aditya Singh, J. Keshavan · 0 citations