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

8 Downloads (Pure)

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)	4819-4826
Number of pages	8
Journal	IEEE Transactions on Automatic Control
Volume	71
Issue number	7
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

Access to Document

10.1109/TAC.2026.3661486

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

Cite this

@article{e3e73a927aa74bb294146ab3c4351d2b,

title = "Control-By-Interconnection Beyond Casimirs and Connections to IDA-PBC",

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.",

keywords = "Nonlinear control systems, nonlinear systems, output feedback",

author = "Joel Ferguson and Pablo Borja",

note = "Publisher Copyright: {\textcopyright} 1963-2012 IEEE.",

year = "2026",

month = feb,

day = "4",

doi = "10.1109/TAC.2026.3661486",

language = "English",

volume = "71",

pages = "4819--4826",

journal = "IEEE Transactions on Automatic Control",

issn = "0018-9286",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "7",

}

TY - JOUR

T1 - Control-By-Interconnection Beyond Casimirs and Connections to IDA-PBC

AU - Ferguson, Joel

AU - Borja, Pablo

PY - 2026/2/4

Y1 - 2026/2/4

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

UR - https://www.scopus.com/pages/publications/105029878195

UR - https://pearl.plymouth.ac.uk/secam-research/2205/

U2 - 10.1109/TAC.2026.3661486

DO - 10.1109/TAC.2026.3661486

M3 - Article

AN - SCOPUS:105029878195

SN - 0018-9286

VL - 71

SP - 4819

EP - 4826

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 7

ER -

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

Abstract

ASJC Scopus subject areas

Keywords

Access to Document

Other files and links

Fingerprint

Cite this