Passivity-based robust control for uncertain nonlinear feedback systems

This paper is concerned with passivity-based robust control and tracking performance for nonlinear feedback system with unknown perturbations. By designing the feedforward controller in smaller norm, not only the nonlinear system with nominal plant but also that with perturbed plant can be stabilized, moreover, the plant output can be proved to be closer to the reference output. The effectiveness of the proposed is confirmed by the simulation results.