Digital signal processing (3rd ed.): principles, algorithms, and applications
Digital signal processing (3rd ed.): principles, algorithms, and applications
L2-Gain and Passivity in Nonlinear Control
L2-Gain and Passivity in Nonlinear Control
Feedback Systems: Input-Output Properties
Feedback Systems: Input-Output Properties
Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach (Springer Tracts in Advanced Robotics)
Passivity-Based Design of Wireless Networked Control Systems for Robustness to Time-Varying Delays
RTSS '08 Proceedings of the 2008 Real-Time Systems Symposium
Netcat Power Tools
Sampled- and continuous-time passivity and stability of virtual environments
IEEE Transactions on Robotics
Sampled Data Systems Passivity and Discrete Port-Hamiltonian Systems
IEEE Transactions on Robotics
A passivity approach for model-based compositional design of networked control systems
ACM Transactions on Embedded Computing Systems (TECS)
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This paper provides a passivity based framework to synthesise lm2-stable digital control networks in which m strictly-output passive controllers can control n – m strictly-output passive plants. The communication between the plants and controllers can tolerate time varying delay and data dropouts. In particular, we introduce a power-junction-network, a general class of input-output-wave-variable-network which allows even a single controller (typically designed to control a single plant) to accurately control the output of multiple plants even if the corresponding dynamics of each plant is different. In addition to the power-junction-network we also introduce a Passive Downsampler (PDS) and Passive Upsampler (PUS) in order to further reduce networking traffic while maintaining stability and tracking properties. A detailed (soft real-time) set of examples shows the tracking performance of the networked control system.