Sampled data systems passivity and discrete port-Hamiltonian systems

Stramigioli, Stefano and Secchi, Cristian and Schaft van der, Arjan J. 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

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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
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/54220
Official URL:	http://dx.doi.org/10.1109/TRO.2004.842330
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