Master-slave passivity design for stabilization of nonlinear systems

A new development of the master-slave design makes it applicable to single input nonlinear systems. In the new design, a virtual input-output pair is first selected for passivation. A control law for the actual input is then found which renders the virtual input-output pair passive. One of the goals of the master-slave approach is to avoid the relative degree obstacle to passivation. For certain classes of systems, linear matrix inequalities (LMI) are used to find a passivating control law.