Local feedback passivation of nonlinear discrete-time systems through the speed-gradient algorithm

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    Abstract

    This paper proposes a method in order to render passive discrete-time nonlinear multiple-input multiple-output (MIMO) systems which are affine in control. The methodology is based on the discrete-time version of the speed-gradient (SG) algorithm. For the application of the SG algorithm, quasi-V-passive and feedback quasi-V-passive systems are introduced. Two kinds of feedback laws rendering the system locally quasi-V-passive are obtained: a dynamic one and a static one. The feedback passivation methodology is applied to two examples. Some frequency-domain properties of the feedback transformed system are highlighted for the linear example. © 2007 Elsevier Ltd. All rights reserved.
    Original languageEnglish
    Pages (from-to)1302-1306
    Number of pages4
    JournalAutomatica
    Volume43
    Issue number7
    DOIs
    Publication statusPublished - Jul 2007

    Keywords

    • Discrete-time systems
    • Energy control
    • Feedback stabilization
    • Nonlinear systems
    • Passive elements

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