Technical communique: Local feedback passivation of nonlinear discrete-time systems through the speed-gradient algorithm

Authors:
Eva M. Navarro-López
Affiliations:
Escuela Técnica Superior de Ingenieros Industriales, Universidad de Castilla-La Mancha, Avda. Camilo José Cela s/n, 13071 Ciudad Real, Spain
Venue:
Automatica (Journal of IFAC)
Year:
2007

Citing 4
Cited 1

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Nonlinear small-gain theorems for discrete-time feedback systems and applications

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Lyapunov-based continuous-time nonlinear controller redesign for sampled-data implementation

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Multi-objective optimal control for a class of unknown nonlinear systems based on finite-approximation-error ADP algorithm

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Abstract

This paper proposes a method in order to render passive discrete-time nonlinear multiple-input multiple-output (MIMO) systems which are affine in control. The methodology is based on the discrete-time version of the speed-gradient (SG) algorithm. For the application of the SG algorithm, quasi-V-passive and feedback quasi-V-passive systems are introduced. Two kinds of feedback laws rendering the system locally quasi-V-passive are obtained: a dynamic one and a static one. The feedback passivation methodology is applied to two examples. Some frequency-domain properties of the feedback transformed system are highlighted for the linear example.