Title :
Passivity-based control of nonlinear systems: a tutorial
Author :
Ortega, Romeo ; Jiang, Zhong P. ; Hill, David J.
Author_Institution :
Lab. des Signaux et Syst., CNRS-SUPELEC, Gif-sur-Yvette, France
Abstract :
In this paper we survey some recent results on stabilization of nonlinear systems using a passivity approach. In the first part of the paper we treat general systems and develop a unified framework for passivity-based nonlinear control design. In the second part we center our attention on systems described by Euler-Lagrange equations, with particular emphasis on mechanical systems, power converters and AC motors
Keywords :
control system synthesis; nonlinear control systems; stability; AC motors; Euler-Lagrange equations; mechanical systems; passivity-based nonlinear control design; power converters; stabilization; Australia; Control design; Control systems; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; State feedback; Tutorial;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611933
