Feedback passivity of nonlinear discrete-time systems with direct input-output link

Authors:
Eva M. Navarro-LóPez;Enric Fossas-Colet
Affiliations:
Programa de Investigación en Matemáticas Aplicadas y Computación, Instituto Mexicano del Petróleo Eje Central Lázaro Cárdenas, 152, ed. 2, planta baja, cub.1, A.P. 14 ...;Universitat Politècnica de Catalunya, Institut d'Organització i Control, Avda. Diagonal 647, planta 11, Barcelona 08028, Spain
Venue:
Automatica (Journal of IFAC)
Year:
2004

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Abstract

This paper is devoted to the study of the feedback passivity property in nonlinear discrete-time systems. The relative degree and zero dynamics of the non-passive system are related to the feedback passivity of the system. Two main results are presented. First, some relative degree-related properties of passive systems in general form are stated. Second, sufficient conditions in order to render a multiple-input multiple-output (MIMO) system passive by means of a static state feedback control law are obtained.