A bond graph procedure for direct passivation of nonlinear systems

The paper presents a procedure for direct passivation of nonlinear systems using the bond graph methodology. The different steps of the passivation approach are carried out straightforwardly in the bond graph domain, including: relative degree and zero dynamics calculation, stabilization and tracking via feedback. The energy aspect of the bond graph representation highlights the choice of the appropriate Lyapunov function as the total energy in the storage elements while its orbital derivative is equal to the power supplied by the sources minus the power in the dissipative elements. Finally, the application of the proposed procedure is illustrated on the current fed-induction motor.