Sampled-data redesign of stabilizing feedback

A sampled-data design procedure ensuring stabilization of passive systems is described in the general framework of Passivity Based Control-PBC. Making reference to a specific output mapping deduced from the initial one and with respect to which passivity under sampling can be preserved, a stabilizing sampled-data controller is designed. An algorithmic procedure for computing the solution is described. The cart pendulum example illustrates the sampled-data controller´s performances.