Passivity of Linear Parameter Varying systems with intermittent non-passive behavior

We analyze passivity of Linear Parameter Varying (LPV) systems in which certain regions of the parameter trajectory may be non-passive. It is shown that system passivity can be maintained if the system remains in passive parameter regions “sufficiently often”. Analytical conditions that ensure system passivity are derived in terms of the fractions of times spent in passive and non-passive regions of the parameter trajectory. An online algorithm to schedule controllers to maintain a desired level of passivity based on parameter measurements is also proposed.