A passivity-based controller, which takes into account saturation of the magnetic material in the main flux path of the induction motor, is developed to provide close tracking of time-varying speed and flux trajectories in the high magnetic saturation regions. The proposed passivity-based controller is experimentally verified. Also, a comparison between the controllers based on the saturated an...

Zusammenfassung Es wird eine konstruktive Reglerentwurfsmethode für schaltende nichtlineare steuerungssaffine Systeme vorgestellt, die dem geschlossenen Regelkreis eine schaltende Port-Hamiltonsche Struktur mit gemeinsamer Energiefunktion zuweist und so (asymptotische) Stabilität der Ruhelage erzielt. Die Methode generiert alle schaltenden Zustandsrückführungen, welche die Strecke unter beliebi...

The level adjustment of cable-driven parallel mechanism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of uncertainties exist in the adjustment process. This paper presents application of an adaptive passivity-based control scheme for a cable suspended robot to handle disturbance and uncertainties in mass and moments of inert...

Some patients with schizophrenia present a related phenomenon in which they believe their limbs are under the control of an alien force (motor passivity).5 There are some attempts to elucidate the nature and mechanism of passivity phenomena (experiences that one’s conscious actions or thoughts have not been ‘willed’ by oneself) wich include the dysfunction of an internal self-monitoring system ...