Abstract
This chapter is devoted to investigating how the dissipativity properties of the various systems examined in the foregoing chapter can be used to design stable and robust feedback controllers. We start with a classical result of mechanics, which actually is the basis of Lyapunov stability and Lyapunov functions theory. The interest of this result is that its proof hinges on important stability analysis tools, and allows one to make a clear connection between Lyapunov stability and dissipativity theory. The next section is a brief survey on passivity-based control methods, a topic that has been the object of numerous publications.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag London Limited
About this chapter
Cite this chapter
Brogliato, B., Maschke, B., Lozano, R., Egeland, O. (2007). Passivity-based Control. In: Dissipative Systems Analysis and Control. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-1-84628-517-2_7
Download citation
DOI: https://doi.org/10.1007/978-1-84628-517-2_7
Publisher Name: Springer, London
Print ISBN: 978-1-84628-516-5
Online ISBN: 978-1-84628-517-2
eBook Packages: EngineeringEngineering (R0)