Stabilization via Immersion and Invariance with the First Order Model of the CSC

  • N. S. ManjarekarEmail author
  • Ravi N. Banavar
Part of the SpringerBriefs in Applied Sciences and Technology book series (BRIEFSAPPLSCIENCES)


The IDA-PBC methodology relies on the concept of exact model matching of the closed-loop system with a certain desired behaviour. Immersion and Invariance [1], on the other hand, is based on (a) immersing a lower order desired target dynamics onto a manifold in the original space, and (b) matching the closed-loop system with the immersed system asymptotically. The control objective is to make the immersed manifold attractive and invariant. This methodology, as it is based on the concept of asymptotic model matching, offers more flexibility over IDA-PBC.


Control Objective Control Synthesis Open Loop System Target Dynamic Immersion Condition 
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  1. 1.
    A. Astolfi, R. Ortega, Immersion and invariance: a new tool for stabilization and adaptive control of nonlinear systems. IEEE Trans. Autom. Control 48(4), 590–606 (2003) AprilMathSciNetCrossRefGoogle Scholar

Copyright information

© The Author(s) 2012

Authors and Affiliations

  1. 1.Interdisciplinary Programme in Systems and Control EngineeringIndian Institute of TechnologyPowai, MumbaiIndia

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