Interconnection and damping assignment passivity-based control: towards a constructive procedure - Part II

For pt.I see ibid., p.3412-17 (2004). IDA-PBC is a procedure that allows one to design a static state feedback that stabilizes the equilibria of nonlinear systems. In Part I of this paper, we presented the fundamentals of the theory of IDA-PBC (interconnection and damping assignment passivity-based control). In this part, we discuss the main new results and the practical applications of this control design approach as well as the current open problems and future directions.

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