Sampled data systems passivity and discrete port-Hamiltonian systems


Stramigioli, Stefano and Secchi, Cristian and Schaft, Arjan J. van der and Fantuzzi, Cesare (2005) Sampled data systems passivity and discrete port-Hamiltonian systems. IEEE Transactions on Robotics, 21 (4). pp. 574-587. ISSN 1552-3098

open access
Abstract:In this paper, we present a novel way to approach the interconnection of a continuous and a discrete time physical system first presented in [1][2] [3]. This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master/slave system on a digital transmission line with varying time delays and possible loss of packets (e.g., the Internet), and in the field of haptics, where the virtual environment should `feel¿ like a physical equivalent system.
Item Type:Article
Copyright:© 2004 IEEE
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:
Link to this item:
Official URL:
Export this item as:BibTeX
HTML Citation
Reference Manager


Repository Staff Only: item control page

Metis ID: 228023