Recursive designs and feedback passivation

• AUTHORS: R. Sepulchre, M. Jankovic, P. Kokotovic.
• ABSTRACT:
  The problem of feedback stabilization is reformulated as feedback passivation so that the construction of a stabilizing feedback is translated into the construction of a passivating output. This construction is restricted by two geometric requirements of passivity: a relative degree one and a minimum phase property. We show how backstepping and forwarding, the two building blocks of recursive Lyapunov designs, compelement each other by each removing one of the two obstacles to feedback passivation.
• STATUS: published in Systems and Control in the Twenty-First Century , C. Byrnes, B. Datta, D. Gilliam, C. Martin (eds.), Birkhauser, pp. 313-326, 1996.

• Paper: PS file.
• This work was presented as a semi-plenary lecture at the 12th Symposium on Mathematical Theory of Networks and Systems, June 1996, Saint-Louis