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2022, AUTOMATICA, Pages 110662- (volume: 146)

Discrete-time energy-balance passivity-based control (01a Articolo in rivista)

Mattioni M., Moreschini A., Monaco S., Normand-Cyrot D.

In this paper, new results for passivation and stabilization of discrete-time nonlinear systems via energy balancing are established. When specified on sampled-data systems, the approach is constructive for computing stabilizing digital controllers that assign, at all sampling instants, a target energy profile while stabilizing a target equilibrium. The class of mechanical systems is discussed as an example. Simulations are reported highlighting, for position regulation of a 2R robot, the effect of approximate solutions with respect to standard emulation.
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