disturbance attenuation of nonlinear systems using dissipativity
- AUTHORS: A. Astolfi, R. Ortega, R. Sepulchre.
- ABSTRACT: In this paper we survey some recent results on stabilization
of nonlinear systems using a passivity approach.
In the first part of the paper we treat
general state--space systems and present the basic ideas underlying the
recursive passivation designs.
In the second part we center our attention on the particular,
but practically important, class of Euler--Lagrange systems.
In the third part we deal with disturbance attenuation problems
and we discuss the nonlinear $H_\infty$ control problem.
- STATUS: This survey paper will appear in the monograph 'Control of Complex Systems' (eds. K. Aström, P. Albertos,
M. Blanke, A. Isidori). Springer-Verlag, London,
39 pages. It has also been submitted for publication in European Journal of COntrol, January 2000.