Simultaneous Interconnection and Damping Assignment Passivity-based Control of Mechanical Systems Using Generalized Forces

Interconnection and Damping Assignment Passivity--Based Control of the Pendubot

In this paper, we apply the interconnection and damping assignment passivity—based control design technique to the underactuated mechanical system called pendubot. The proposed control system drives a class of pendubot systems to the upward configuration, starting from a neighborhood of this configuration. Simulation results show the performance of the proposed control system.

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

Simultaneous interconnection and damping assignment passivity-based control: the induction machine case study

Physical Damping in IDA-PBC Controlled Underactuated Mechanical Systems

Energy shaping and passivity-based control designs have proven to be effective in solving control problems for underactuated mechanical systems. In recent works, Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) has been successfully applied to open loop conservative models, i.e. with no physical damping (e.g., friction) present. In a number of cases, in particular when I...

Control via Interconnection and Damping Assignment of Linear Time–Invariant Systems is Equivalent to Stabilizability ?

In this brief note it is shown that the linear matrix inequalities that result from the application of interconnection and damping assignment passivity–based control to general linear time–invariant systems are feasible if and only if the system is stabilizable. A very simple proof of this fact is given that, in contrast to previous results, does not require the assumption that the system has n...