Passivity-based analysis of the minimal control synthesis algorithm

The adaptive minimal control synthesis (MCS) algorithm and its extensions have been the subject of a number of analytical and implementation investigations since 1990. The purpose of this paper is to improve upon the original stability and robustness proofs for MCS, using the concept of passivity. In particular, we present a formal stability proof for the basic centralized algorithm, together with robustness proofs in the cases of plant parameter variations and external disturbances.