Passivity-based Control of Euler-Lagrange Systems Mechanical, Electr
New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Unfortunately, the existing theory for general nonlinear systems cannot successfully deal with them.
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Romeo Ortega, Antonio Lorfa, Per Johan Nicklasson and Hebertt Sira-Ramfrez
Passivity-based Control of Euler-Lagrange Systems Mechanical, Elertrical and Elertromechanical Applications
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Springer
Romeo Ortega, PhD Laboratoire des Signaux et Systemes, UMR CNRS 014, Gif-sur-Yvette 91192, France Antonio Lorfa, PhD Electrical and Computer Engineering Department, UniversityofCalifornia, Santa Barbara, CA 93106-9560, USA Per Johan Nicklasson, Dr Ing SINTEF Electronics and Cybernetics, N-7034 Trondheim, Norway Hebertt Sira-Ramfrez, PhD Departamento Sistemas de Control, Escuela de Ingenieria de Sistemas, Universidad de los Andes, Merida, Venezuela
Series Editors B.W. Dickinson • A. Fettweis • J.L. Massey • J.W. Modestino E.D. Sontag • M. Thoma ISBN 978-1-84996-852-2 ISBN 978-1-4471-3603-3 (eBook) DOI 10.1007/978-1-4471-3603-3 British Library Cataloguing in Publication Data Passivity-based control ofEuler-Lagrange systems : mechanical, electrieal and electromechanieal applications - (Communieations and control engineering) l.Control theory 2.Language equations I.Ortega, Romeo 629.8'312 Library ofCongress Cataloging-in-Publication Data A catalog record for this book is available from the Library of Congress Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographie reproduction in accordance with the terms of licences issued by the Copyright Lieensing Agency. Enquiries concerning reproduetion outside those terms should be sent to the publishers. ©
