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Humankind has been able to develop a metals-based civilization primarily because the reactive metals (Fe, Ni, Cr, Al, Ti, Zr, . . .) exhibit extraordinary kinetic stabilities in oxidizing environments. From the time of Schonbein and Faraday (1830s), the reason for this stability has been attributed to the existence of a thin reaction product ®lm on the metal (or alloy) surface. This ®lm effecti...

This paper develops a passivity-based robust motion controller for a robot used in prosthetic leg performance studies. The mathematical model of the robot and passive prosthesis corresponds to a three degree-of-freedom, underactuated rigid manipulator. A form of robotic testing of prostheses involves tracking reference trajectories obtained from human gait studies. The robot presented in this p...

Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has been stabilised using IDA-PBC with respect to constant, matched disturbances via the addition of integral action. The proposed controller extends previous work...

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 ...

It is an essential step in decomposition algorithms for radical differential ideals to satisfy the so-called Rosenfeld property. Basically all approaches to achieve this step are based on one of two concepts: Coherence or passivity. This paper gives a modern treatment of passivity. The theorem by Li and Wang stating that passivity implies coherence is extended to a broader setting. A new defini...

Euler-Lagrange (EL) model of voltage source PWM rectifier is set up based on its model in synchronous dq coordinates. Passivity based controller is designed on the basis of passivity and EL model of voltage source PWM rectifier. Three switching function are educed by passivity based controller. A switching function is only realized in engineering consequently. Voltage source PWM rectifier using...