Chapter

Lagrangian and Hamiltonian Methods for Nonlinear Control 2006

Volume 366 of the series Lecture Notes in Control and Information Sciences pp 157-169

Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples

  • Carles BatlleAffiliated withMA4, DEE and IOC, EPSEVG, UPC
  • , Arnau Dòria-CerezoAffiliated withMA4, DEE and IOC, EPSEVG, UPC
  • , Gerardo Espinosa-PérezAffiliated withDEPFI-UNAM
  • , Romeo OrtegaAffiliated withLaboratoire des Signaux et Systémes, SUPELEC

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Abstract

Passivity-based control (PBC) is a generic name given to a family of controller design techniques that achieves system stabilization via the route of passivation, that is, rendering the closed-loop system passive with a desired storage function (that usually qualifies as a Lyapunov function for the stability analysis.) If the passivity property turns out to be output strict, with an output signal with respect to which the system is detectable, then asymptotic stability is ensured. See the monographs [5, 12], and [6] for a recent survey.