In Jankovic et al., a series of cascade- and passivity-based control designs are developed for the control of a translational oscillation rotational actuation (TORA) benchmark example. Two of the passivity-based control designs have strong mechanical underpinnings. In this brief letter, valuable physical insight into the passivity-based control is demonstrated using a basic theory of vibration analysis.
- Nonlinear control
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering