| Original language | English |
|---|---|
| Title of host publication | Encyclopedia of Systems and Control Engineering |
| Subtitle of host publication | Nonlinear and Adaptive Control |
| Publisher | Elsevier Inc. |
| Publication status | Published - 29 Mar 2025 |
Abstract
The passivity-based control (PBC) framework focuses on understanding and modifying the energy storing and dissipation in the system
to be controlled. To this end, PBC techniques often proceed in two steps: (i) ensuring that the closed-loop system's energy is minimum at
the desired point, and then (ii) forcing the system to dissipate energy until reaching that point. These control methods have proven
effective in controlling a wide range of systems, especially physical ones, even when they exhibit highly nonlinear behaviors. This chapter
discusses the main aspects of some PBC strategies for nonlinear systems.
to be controlled. To this end, PBC techniques often proceed in two steps: (i) ensuring that the closed-loop system's energy is minimum at
the desired point, and then (ii) forcing the system to dissipate energy until reaching that point. These control methods have proven
effective in controlling a wide range of systems, especially physical ones, even when they exhibit highly nonlinear behaviors. This chapter
discusses the main aspects of some PBC strategies for nonlinear systems.