相关论文: Passivity and Passivity Indices of Nonlinear Syste…

In the context of data-driven control of nonlinear systems, many approaches lack of rigorous guarantees, call for nonconvex optimization, or require knowledge of a function basis containing the system dynamics. To tackle these drawbacks, we…

The passivity index, a quantitative measure of a system's passivity deficiency or excess, has been widely used in stability analysis and control. Existing studies mostly rely on scalar forms of indices, which are restrictive for…

Dynamical systems can be used to model a broad class of physical processes, and conservation laws give rise to system properties like passivity or port-Hamiltonian structure. An important problem in practical applications is to steer…

Passive systems are characterized by their inability to generate energy internally, providing a powerful tool for modeling physical phenomena. Additionally, algebraically encoding passivity in the system description can be advantageous. For…

This paper deals with the problem of control of partially known nonlinear systems, which have an open-loop stable equilibrium, but we would like to add a PI controller to regulate its behavior around another operating point. Our main…

In the context of dynamical systems, nonlinearity measures quantify the strength of nonlinearity by means of the distance of their input-output behaviour to a set of linear input-output mappings. In this paper, we establish a framework to…

We have developed a linearization method to investigate the subthreshold oscillatory behaviors in nonlinear autonomous systems. By considering firstly the neuronal system as an example, we show that this theoretical approach can predict…

This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system…

Passivity is an imperative concept and a widely utilized tool in the analysis and control of interconnected systems. It naturally arises in the modelling of physical systems involving passive elements and dynamics. While many theorems on…

This paper addresses the problem of designing an optimal output feedback controller with a specified controller structure for linear time-invariant (LTI) systems to maximize the passivity level for the closed-loop system, in both…

This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…

Controllability and observability energy functions play a fundamental role in model order reduction and are inherently connected to optimal control problems. For linear dynamical systems the energy functions are known to be quadratic…

In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…

In this note we address the problem of indirect adaptive (regulation or tracking) control of nonlinear, input affine dissipative systems. It is assumed that the supply rate, the storage and the internal dissipation functions may be…

We present two linked theorems on passivity: the passive behavior theorem, parts 1 and 2. Part 1 provides necessary and sufficient conditions for a general linear system, described by a set of high order differential equations, to be…

This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…

We consider the effect of parametric uncertainty on properties of Linear Time Invariant systems. Traditional approaches to this problem determine the worst-case gains of the system over the uncertainty set. Whilst such approaches are…

Passivity theory is one of the cornerstones of control theory, as it allows one to prove stability of a large-scale system while treating each component separately. In practice, many systems are not passive, and must be passivized in order…

The paper addresses the problem of passivation of a class of nonlinear systems where the dynamics are unknown. For this purpose, we use the highly flexible, data-driven Gaussian process regression for the identification of the unknown…

In this paper, we introduce an angle notion called the singular angle for nonlinear systems from an input-output perspective. The proposed system singular angle, based on the angle between $L_2$-signals, describes an upper bound for the…