Passivity-Based Control of Electric Motors
In this chapter, the passivity-based approach to control design for electromechanical systems is described and applied to electric motors. The notions of dissipativity and passivity are powerful tools for design and analysis of control systems [3, 71, 170, 207, 212, 213] . For completeness, we will start with definitions and some results on dissipativity and passivity.
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- 2.Forces due to gravity can be derived from a potential and are usually included in V (q). ∂V∂(g) is often called the generalized gravity and is denoted by g(q). This condition ensures that the dissipative force dissipates energy.Google Scholar
- 4.Observe that qi is an input to H2 that appears through the potential term.Google Scholar
- 5.For a linear motor, qm is the position and J is the mass of the moving part of the motor.Google Scholar
- 6.If this is not the case, adaptive controllers can still be designed using the techniques described in previous chapters.Google Scholar