Cyber Physical Systems (CPS) often have continuous components interconnected with systems described by discrete state space. Examples of such discrete components may be supervisory controllers or components implemented in software. To design large scale CPS in a compositional manner it would be useful to define a notion of passivity for these discrete components as well. As a first step towards...

Passivity is a fundamental property of many physical systems which may be roughly defined in terms of energy dissipation and transformation. It is an inherent Input-Output property in the sense that it quantifies and qualifies the energy balance of a system when stimulated by external inputs to generate some output. Passivity is therefore related to the property of stability in an input-output ...

Motivated by human compliant behaviors during interacting with unknown environments and how motions impedance to are adapted skilfully complete a task, this article develops motion planning scheme that is capable of generating trajectory online such tracking desired contacting forces under predefined task. First, an improved dynamical system (DS) designed generate adaptive scanning from the ori...

This paper considers the robust stability of the interconnection of a linear timeinvariant differential nominal system and passive uncertainties in the behavioral framework. A generalized version of the well-known passivity theorem is formulated by using quadratic differential forms. Based on the generalized passivity theorem, it is proved that, if the nominal system is Φ-passive, the interconn...

Most of the industrial processes are basically Multi Input Multi Output (MIMO) system. In this paper a new combination of Spherical Conical Interacting Tank System (SCITS) which is a variable area nonlinear MIMO system is considered for study and various control algorithms based on Ziegler Nichol’s tuning method, Hagglund Astrom Robust tuning method, Fractional Order (FO) control and Passivity ...

In this article, our objective is to develop novel passivity-based control techniques by introducing a new passivity concept named Krasovskii passivity . As preliminary step, we investigate the properties of Krasovskii passive systems and establish relations among four relevant concepts includi...