Intrinsically passive control using sampled data system passivity


Stramigioli, Stefano (2005) Intrinsically passive control using sampled data system passivity. In: F. Barbagli & D. Prattichizzo & K. Salisbury (Eds.), Multi-point interaction with real and virual objects. 18 . Springer, Berlin, pp. 215-229. ISBN 9783540260363

[img] PDF
Restricted to UT campus only

Abstract:In this chapter, which is a distilled version of [271], we present a novel way to approach the interconnection of a continuous and a discrete time physical system firstly presented in [270, 268, 257]. 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:Book Section
Additional information:IST-2001-34166
Copyright:© 2005 Springer
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: 231052