Physical insights on passivity-based TORA control designs

Andrew Alleyne

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)436-439
Number of pages4
JournalIEEE Transactions on Control Systems Technology
Issue number3
StatePublished - 1998
Externally publishedYes


  • Nonlinear control
  • Passivitiy
  • TORA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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