Passivity-based control of elastic systems

This paper addresses passivity-based control of elastic systems. For inherently passive nonlinear and linear elastic systems such as flexible structures with collocated and compatible actuators and sensors, robust linear and nonlinear control laws are presented. For linear elastic systems that are inherently nonpassive, a method is presented to render them passive by compensation. The resulting system can then be controlled by a class of passive linear controllers. The method is applied to two elastic systems and is found to give robust stability and performance.