Abstract
We revisit the definitions of passivity and feedbackpassivity in the context of general continuous-time singleinput, single output, systems which are jointly nonlinearin the states and the control input. Neccessary conditionsare given for the characterization of passive systems and extendthe well known Kalman-Yakubovich-Popov (KYP) conditions.Passivity concepts are used for studying the stabilizationproblem of general nonlinear systems. We extend the‘Energy Shaping and Damping Injection’ (ESDI) controllerdesign methodology to the studied class of systems. A semicanonicalform for nonlinear systems which is of the GeneralizedHamiltonian type, including dissipation terms, is alsoproposed. Passive and strictly passive systems are shown tobe easily characterized in terms of such a canonical form
| Original language | English |
|---|---|
| Title of host publication | 14th Symposium on Mathematical Theory of Networks and Systems |
| Place of Publication | France |
| Pages | 1-6 |
| Number of pages | 6 |
| Publication status | Published - Jun 2000 |
| Event | 14th Symposium on Mathematical Theory of Networks and Systems - Perpignan, France Duration: 19 Jun 2000 → 23 Jun 2000 http://www.cs.man.ac.uk/~navarroe/papers/enavarro_mtns00.pdf |
Conference
| Conference | 14th Symposium on Mathematical Theory of Networks and Systems |
|---|---|
| City | Perpignan, France |
| Period | 19/06/00 → 23/06/00 |
| Internet address |
Keywords
- Passivity properties
- Feedback passivity
- Kalman-Yakubovich-Popov Lemma
- Energy shaping and damping injection
- Passivity-based control