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Passivity-Based Control of Electric Motors

  • Farshad Khorrami
  • Prashanth Krishnamurthy
  • Hemant Melkote
Chapter
Part of the Power Systems book series (POWSYS)

Abstract

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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References

  1. 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
  2. 4.
    Observe that qi is an input to H2 that appears through the potential term.Google Scholar
  3. 5.
    For a linear motor, qm is the position and J is the mass of the moving part of the motor.Google Scholar
  4. 6.
    If this is not the case, adaptive controllers can still be designed using the techniques described in previous chapters.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Farshad Khorrami
    • 1
  • Prashanth Krishnamurthy
    • 1
  • Hemant Melkote
    • 1
  1. 1.Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer EngineeringPolytechnic UniversityBrooklynUSA

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