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Tracking control of cascade systems based on passivity: the nonadaptive and adaptive cases |
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| Authors: | Travieso-Torres Juan C Duarte-Mermoud Manuel A Estrada Jorge L |
| Affiliation: | Department of Electrical Engineering, University of Chile, Casilla, Santiago. |
| Abstract: | A new cascade passivity-based control scheme for tracking purposes is proposed in this paper. The proposed scheme is valid for a certain class of nonlinear systems even with unstable zero dynamic, and it is also useful for regulation and stabilization purposes. The cases where all system parameters are assumed to be known (nonadaptive case) and also the case when they are unknown (adaptive case) are considered. Some simulation examples are studied to analyze the behavior of the proposed scheme. |
| Keywords: | Passivity-based control (PBC) Adaptive passivity Adaptive tracking Adaptive regulation Adaptive stabilization Adaptive cascade control |
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