Passivity-based Control

Abstract

This chapter is devoted to investigating how the dissipativity properties of the various systems examined in the foregoing chapter can be used to design stable and robust feedback controllers. We start with a classical result of mechanics, which actually is the basis of Lyapunov stability and Lyapunov functions theory. The interest of this result is that its proof hinges on important stability analysis tools, and allows one to make a clear connection between Lyapunov stability and dissipativity theory. The next section is a brief survey on passivity-based control methods, a topic that has been the object of numerous publications.