The design of two multiple-input multiple-output (MIMO) controllers for induction motors, based on adaptive passivity, is presented in this paper. The controller design method is based on concepts of equivalence passivity via adaptive feedback, previously developed by the authors. Robustness under variations of the motor-load parameters is guaranteed and the knowledge of such a parameters is no...

Passivity of systems comprising a continuous time plant and discrete time controller is considered. This topic is motivated by stability considerations arising in the control of robots and force-reflecting human interfaces (‘‘haptic interfaces’’). Necessary conditions for passivity are found via a small gain condition, and sufficient conditions are found via an application of Parseval’s theorem...

At present, the research on five-level inverters mainly involves the modulation algorithm and topology, and few articles study the five-level inverter from the control strategy. In this paper, the nonlinear passivity-based control (PBC) method is proposed for single-phase uninterruptible power supply inverters. The proposed PBC method is based on an energy shaping and damping injection idea, wh...

This paper addresses trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations and passivity based control. The main strategy adopted in this paper is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. After obtaining the error system, tracking control of the origin...

There has been great interest in using classical control theory to manage computing systems. Classical control, however, focuses on regulating a system’s state in a neighborhood of an equilibrium point and it is unclear if such equilibrium-based methods are well-suited for systems providing performance guarantees in the face of large and rapid input fluctuations. This may be the case for cloud ...

This paper focuses on the stabilization of port-controlled Hamiltonian systems employing possibly time-varying controllers. At first we refer to the generalized canonical transformation which preserves the structure of Hamiltonian systems and the passivity property that physical systems innately possess. Next we show a general stabilization strategy for port-controlled Hamiltonian systems based...

The voltage source converter-high voltage direct current (VSC-HVDC) transmission is the ideal integration technology for grid-connected wind farms. A passivity-based control (PBC) method for VSC-HVDC when the wind farm voltage is unbalanced is proposed in this paper. The mathematical model of a VSC with unbalanced voltage is established. The PBC theory including dissipation inequality and syste...

A negative feedback interconnection consisting of two causal, nonlinear systems is shown to be input–output stablewhen a ‘‘mixed’’ small gain and passivity assumption is placed on each of the systems. The ‘‘mixed’’ small gain and passivity property captures the well-known notions of passivity and small gain associated with systems: the property can be appropriately reduced to an input and outpu...

This paper addresses the motion control in joint space of robot manipulators with friction described by the generalized LuGre friction model. The paper extends the nonadaptive version of the Slotine and Li’s control system originally designed for friction-free manipulators to the case where a friction observer is incorporated to deal with friction. This observer corresponds to an adaptation of ...

This paper addresses the motion control in joint space of robot manipulators with friction described by the generalized LuGre friction model. The paper extends the nonadaptive version of the Slotine and Li’s control system originally designed for friction–free manipulators to the case where a friction observer is incorporated to deal with friction. This observer corresponds to an adaptation of ...