Interconnection and Damping Assignment Passivity-Based Control Without Partial Differential Equations

Interconnection and damping assignment (IDA) is a popular passivity-based control (PBC) technique. This nonlinear control approach has proven suitable for stabilizing a wide range of systems. However, like many other nonlinear control techniques, implementing the IDA-PBC approach is often hampered by the necessity of solving partial differential equations (PDEs). This paper studies systems for which the solutions to these equations are always guaranteed, and closed-form solutions are known. To this end, we provide straightforwardly verifiable conditions over the open-loop system such that IDA-PBC can be applied without solving PDEs.