Passivity-based robust control for nonlinear feedback systems using robust right coprime factorization

This paper is concerned with passivity-based robust control for perturbed nonlinear feedback control systems using the operator-based right coprime factorization method. For the nonlinear feedback system with the disturbance which is described by the operator form, by designing the robust controllers and choosing the storage function, the nonlinear system can be designed to be robust stable and passive. Finally, the effectiveness of the proposed method is confirmed by the simulation results.