In previous papers, a passive control implementation structure is proposed for mechanical systems interacting with physical environments. The proposed implementation structure enforces robust passivity of the closed-loop system, i.e. passivity is ensured in the presence of inaccurate force sensing and model uncertainties. In this paper, we conduct experiments to validate and demonstrate this ro...

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...

The paper addresses problems of analysis and control of spatial behavior of uncertain dynamical systems associated with properties of invariance and attractivity of smooth geometric objects (goal sets). The use of geometric control theory and inequalities of passivity allows one to reduce the problems to input-to-state stability with respect to part of the variables, construct Lyapunov-like sto...

In this paper, a new approach is developed for robust control of nonlinear chemical processes. The methodology proposed is based on passivity theory. Uncertainty and perturbations are taken into account in the stability analysis and controller synthesis such that the resulting closed-loop system can achieve better robustness and performance. The suggested passivity framework can deal with a lar...

The celebrated small-gain approach to robust control only makes use of the gain information of uncertainty. This results in a limitation on the achievable control bandwidth in system design. On the other hand, the alternative passivity approach has only limited applications. To relax the limitations associated with small-gain and passivity approaches, we explore the possibility of utilizing bot...

We reinterprete and improve recent results on robust control of robots by the computed method. The methods and ideas used are inspired by 'passivity based' control methods for robot manipulators and lead to a significant increase in freedom of controller implementation, thereby providing more flexibility to the designer of robot control systems.

In this paper, the instability problem caused by constant power load in Buck converter is addressed. order to solve problem, a composite controller proposed. Due double loop structure of controller, passivity based control (PBC) adopted voltage track reference and make system stable, while simplified continuous set model predictive (CCS-MPC) selected as current reference. Moreover, improve robu...