Nonlinear fixed-order dynamic compensation for passive systems

A general framework for designing nonlinear fixed order (i.e., full- and reduced-order) dynamic passive controllers for passive systems is developed using nonlinear dissipation theory. Specifically, by extending linear passive controller synthesis frameworks a family of globally asymptotically stabilizing nonlinear passive controllers is developed that can serve to enhance system performance and energy dissipation. The proposed approach is applied to the rotational/translational proof mass actuator nonlinear benchmark problem to develop fixed-order dynamic output feedback nonlinear controllers.

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