In this paper, we extend the family of algorithms presented in Algorithms for identification of continuous time nonlinear systems. A passivity approach. In A. Isidori, F. Ramnabhi-Lagarrigue, & W. Respondek (Eds.), Nonlinear control in the year 2000, vol. 2 (pp. 13-44) Berlin: Springer; (Automatica 37 (2000) 469) for the identification of continuous time nonlinear plants operating in closed loo...

A family of passivity-based controllers for dynamic positioning of ships is presented. The authors exploit the idea of shaping the energy function of the closed-loop system to obtain different formulations of the passivity-based control law using the interconnection and damping assignment-passivity-based control (IDA-PBC) methodology. A salient feature of this study is that the proposed control...

It was shown in Spong [1999b] that the passive gaits for a planar 2DOF biped walking on a shallow slope (Goswami et al. [1995]) can be made slope invariant by a passivity based control that compensates only the gravitational torques acting on the biped. In this paper we extend these results to the general case of a 3-D, n-DOF robot. We show that if there exists a passive walking gait, i.e., if ...

This paper presents a new passivity property for distributed piezoelectric devices with integrable port-variables. novel passivity-based control approach is suited dissipative systems. We present two methodologies by exploiting the integrability of The derived controllers have Proportional-Integral (PI) like structure and are shown to asymptotically stabilize devices. Finally, simulation result...

Passivity and dissipativity, in Jan Willems’s sense, are known to be powerful tools for stability analysis feedback control design. For instance, passive systems negative interconnection with slope-restricted, static, single-valued, smooth nonlinearities, as Lur’e systems, have been thoroughly studied automatic control, yielding the so-called absolute problem (with famous Popov circle criteria)...

In this paper by using the port-controlled Hamiltonian (PCH) systems theory, a full-order nonlinear controlled model is first developed. Then a nonlinear passivity-based robust adaptive control (PBRAC) of switched reluctance motor in the presence of external disturbances for the purpose of torque ripple reduction and characteristic improvement is presented. The proposed controller design is sep...