Title :
A projector to design a passive-based feedback
Author :
Boutat, Driss ; Djemai, M. ; Barbot, J.-P.
Author_Institution :
LVR, Orleans Univ., France
Abstract :
This paper deals with the decomposition of the drift term of nonlinear multivariable regular systems. A transverse and tangent decomposition of the vector field is first presented, then a feedback neutralizing the transverse part is studied. Zero dynamics stability is considered and sufficient conditions to obtain a global passivity of the system are given. Other decompositions based on the workless field, attracting field, and rejecting field are also studied. Some illustrative examples are given
Keywords :
control system synthesis; feedback; multivariable systems; nonlinear systems; stability; decomposition; global passivity; multivariable systems; nonlinear systems; passive-based feedback; stability; sufficient condition; Control design; Control system analysis; Energy loss; Feedback; MIMO; Mechanical systems; Nonlinear dynamical systems; Robots; Stability; Sufficient conditions;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912318
