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[182] Citation: Abstract
A general framework for expanding the time-domain passivity control approach
to large classes of control systems is proposed.
We show that large classes of control systems can be
described from a network point of view. Based on the network presentation,
the large classes of
control systems are analyzed in a unified framework. In this unified
network model, we define
"virtual input energy", which is a virtual source of energy for control, and
"real output energy"
that is physically transferred to a plant to allow the concept of passivity
to be used to study
the stability of large classes of control systems. For guaranteeing the
stability condition,
the time-domain passivity controller for 2-port is applied.
Design procedure is demonstrated for a motion
control system. The developed method is tested with numerical simulation in
the regulation of
a single link flexible manipulator. Totally stable control is achieved
under wide variety of
operating condition and uncertainties without any model information.
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Updated: Tue Aug 19 09:16:09 2008
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