Passivity of a class of sampled-data systems: application to haptic interfaces

@article{Colgate1994PassivityOA,
  title={Passivity of a class of sampled-data systems: application to haptic interfaces},
  author={J. Edward Colgate and Gerd Schenkel},
  journal={Proceedings of 1994 American Control Conference - ACC '94},
  year={1994},
  volume={3},
  pages={3236-3240 vol.3}
}
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"). A necessary and sufficient condition for the passivity of a class of sampled-data systems is derived. An example-implementation of a "virtual wall" via a one degree-of-freedom haptic interface-is presented. 

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