Control-By-Interconnection Beyond Casimirs and Connections to IDA-PBC

Joel Ferguson; Pablo Borja

doi:10.1109/TAC.2026.3661486

Control-By-Interconnection Beyond Casimirs and Connections to IDA-PBC

Joel Ferguson^*
, Pablo Borja

^*Corresponding author for this work

Maynooth University

Research output: Contribution to journal › Article › peer-review

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Abstract

Control by Interconnection (CbI) and Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) are two nonlinear design methodologies that exploit passivity to construct stabilising controllers. While CbI is known to be a subset of IDA-PBC, the converse link has remained open. This paper revisits CbI by utilising dynamic invariants beyond Casimirs and a more general control structure. Using this more general structure we show a one-to-one correspondence between IDA-PBC and CbI controllers for the class of mechanical systems without friction.

Original language	English
Pages (from-to)	1-8
Journal	IEEE Transactions on Automatic Control
DOIs	https://doi.org/10.1109/TAC.2026.3661486
Publication status	Published - 4 Feb 2026

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Keywords

Nonlinear control systems
nonlinear systems
output feedback

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10.1109/TAC.2026.3661486

Control-By-Interconnection_Beyond_Casimirs_and_Connections_to_IDA-PBCFinal published version, 365 KBLicence: CC BY

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abstract = "Control by Interconnection (CbI) and Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) are two nonlinear design methodologies that exploit passivity to construct stabilising controllers. While CbI is known to be a subset of IDA-PBC, the converse link has remained open. This paper revisits CbI by utilising dynamic invariants beyond Casimirs and a more general control structure. Using this more general structure we show a one-to-one correspondence between IDA-PBC and CbI controllers for the class of mechanical systems without friction.",

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N2 - Control by Interconnection (CbI) and Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) are two nonlinear design methodologies that exploit passivity to construct stabilising controllers. While CbI is known to be a subset of IDA-PBC, the converse link has remained open. This paper revisits CbI by utilising dynamic invariants beyond Casimirs and a more general control structure. Using this more general structure we show a one-to-one correspondence between IDA-PBC and CbI controllers for the class of mechanical systems without friction.

AB - Control by Interconnection (CbI) and Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) are two nonlinear design methodologies that exploit passivity to construct stabilising controllers. While CbI is known to be a subset of IDA-PBC, the converse link has remained open. This paper revisits CbI by utilising dynamic invariants beyond Casimirs and a more general control structure. Using this more general structure we show a one-to-one correspondence between IDA-PBC and CbI controllers for the class of mechanical systems without friction.

KW - Nonlinear control systems

KW - nonlinear systems

KW - output feedback

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JO - IEEE Transactions on Automatic Control

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Control-By-Interconnection Beyond Casimirs and Connections to IDA-PBC

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ASJC Scopus subject areas

Keywords

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