lec9 - 1 Outline Motivation s tems stems The Passivity...

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Unformatted text preview: 1 Outline Motivation s tems stems The Passivity Formalism Passivity Definition Positive Real Systems Examples ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys Motivation Passivity formalism is a power tool for analyzing nonlinear systems stemsstems analyzing nonlinear systems It can be used to analyze nonlinear systems based on their input-output (rather than state- space) representation. It can conveniently incorporate common actuator nonlinearities such as saturation ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys actuator nonlinearities such as saturation, ripple, etc. It extends Nyquist criterion to feedback loop with nonlinear elements 2 Passive Systems Passive systems are those that possess a true energy function s tems stems a true energy function: d/dt(E)=Input Power+Dissipated Power Examples: Robotic Manipulator Mass-Spring-Damper System ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys Mass Spring Damper System Passivity Definition A system is said to be passive if there exist lower bounded functions of time stemsstems exist lower bounded functions of time g(t) 0 and V(t) such that the systems input (u R m ) and output (y R m ) satisfy A passive system is said to be ) ( ) ( ) ( ) ( t g t V t u t y T + = & ME6402, Nonlinear Control SysME6402, Nonlinear Control Sys dissipative ) ( ) ( ) ( > dt t g dt t u t y T 3 Examples Nonlinear Mass-Spring Damper System...
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This note was uploaded on 09/22/2011 for the course ME 6402 taught by Professor Staff during the Spring '08 term at Georgia Institute of Technology.

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lec9 - 1 Outline Motivation s tems stems The Passivity...

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