A novel theory for sampled data system passivity

doi:10.1109/IRDS.2002.1044039

A novel theory for sampled data system passivity

by S Stramigioli, C Secchi, A J Van Der Schaft, C Fantuzzi

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IEEERSJ International Conference on Intelligent Robots and Systems (2002)

Volume: 2, Issue: October, Publisher: IEEE, Pages: 1936-1941

ISBN: 0780373987
DOI: 10.1109/IRDS.2002.1044039

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Abstract

This paper presents a novel approach to the interconnection of a continuous time and a discrete time physical system. This is done in a way which preserves the passivity of the coupled system independently of the sampling time. A direct application in the field of haptic displays, where a virtual environment should feel like equivalent physical systems, is presented.