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

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. ᭧ 2007 Elsevier Ltd. All rights reserved.

• Type: Journal
• Year: 2007
• Where: AUTOMATICA
• Authors: Eva M. Navarro-López
• Keywords: AUTOMATICA 2007, Feedback, Feedback Passivation Methodology, Feedback Quasi-V-passive Systems