Abstract
The problem of feedback stabilization is reformulated as feedback passivation so that the construction of a stabilizing feedback is translated into the construction of a passivating output. This construction is restricted by two geometric requirements of passivity: a relative degree one and a minimum phase property. We show how backstepping and forwarding, the two building blocks of recursive Lyapunov designs, compelement each other by each removing one of the two obstacles to feedback passivation.
This work was completed during the postdoctoral stay of the first author at Santa Barbara. The work was supported in part by the National Science Foundation under Grant ECS-9203491 and in part by the Air Force Office of Scientific Research under Grant F-49620-95-1-049. The first author is Chargé de recherches F.N.R.S., Belgium. He acknowledges partial support from the Belgian Programme on Interuniversity Poles of Attraction, initiated by the Belgian Prime Minister’s Office for Science, Technology and Culture.
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Sepulchre, R., Janković, M., Kokotović, P.V. (1997). Recursive Designs and Feedback Passivation. In: Byrnes, C.I., Datta, B.N., Martin, C.F., Gilliam, D.S. (eds) Systems and Control in the Twenty-First Century. Systems & Control: Foundations & Applications, vol 22. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-4120-1_17
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DOI: https://doi.org/10.1007/978-1-4612-4120-1_17
Publisher Name: Birkhäuser, Boston, MA
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