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arXiv · 2608.15218

Passivity-Based Nonlinear Control

Pablo Borja
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Abstract

The passivity-based control (PBC) framework focuses on understanding and modifying the energy storage and dissipation in the system to be controlled. To this end, PBC techniques often proceed in two steps: (i) ensuring that the closed-loop system's energy is minimum at the desired point, and then (ii) forcing the system to dissipate energy until reaching that point. These control methods have proven effective in controlling a wide range of systems, especially physical ones, even when they exhibit highly nonlinear behaviors. This chapter discusses the main aspects of some PBC strategies for nonlinear systems.

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BibTeXRIS

Pablo Borja. 2026-08-15. Passivity-Based Nonlinear Control. https://doi.org/10.1016/b978-0-443-14081-5.00140-9

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