Interconnection and damping assignment passivity-based control: towards a constructive procedure - Part I

@article{Ortega2004InterconnectionAD,
  title={Interconnection and damping assignment passivity-based control: towards a constructive procedure - Part I},
  author={Romeo Ortega and Elo{\'i}sa Garc{\'i}a-Canseco},
  journal={2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)},
  year={2004},
  volume={4},
  pages={3412-3417 Vol.4}
}
Interconnection and damping assignment passivity-based control is a technique that regulates the behavior of nonlinear systems assigning a desired (port-controlled Hamiltonian) structure to the closed-loop. Since the introduction of this controller design methodology five years ago (1999), many theoretical extensions and practical applications have been reported in the literature. The theoretical developments include some variations and shortcuts that are useful when dealing with particular… CONTINUE READING
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