Jacob, BirgitMorris, KirstenZwart, Hans2017-11-212017-11-212017-11-19http://arxiv.org/abs/1711.07020http://hdl.handle.net/10012/12655The zero dynamics of infinite-dimensional systems can be difficult to characterize. The zero dynamics of boundary control systems are particularly problematic. In this paper the zero dynamics of port-Hamiltonian systems are studied. A complete characterization of the zero dynamics for a port-Hamiltonian systems with invertible feedthrough as another port-Hamiltonian system on the same state space is given. It is shown that the zero dynamics for any port-Hamiltonian system with commensurate wave speeds are well-defined, and are also a port-Hamiltonian system. Examples include wave equations with uniform wave speed on a network. A constructive procedure for calculation of the zero dynamics, that can be used for very large system order, is provided.enPort-Hamiltonian systemdistributed parameter systemsboundary controlzero dynamicsnetworkscoupled wave equationsPreprint