PASSIVITY-BASED ANALYSIS OF THE MINIMAL CONTROL SYNTHESIS ALGORITHM

Authors
HODGSON SP STOTEN DP
Citation
Sp. Hodgson et Dp. Stoten, PASSIVITY-BASED ANALYSIS OF THE MINIMAL CONTROL SYNTHESIS ALGORITHM, International Journal of Control, 63(1), 1996, pp. 67-84
Citations number
13
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
International Journal of Control → ACNP
ISSN journal
00207179
Volume
63
Issue
1
Year of publication
1996
Pages
67 - 84
Database
ISI
SICI code
0020-7179(1996)63:1<67:PAOTMC>2.0.ZU;2-Y
Abstract
The adaptive minimal control synthesis (MCS) algorithm and its extensi ons have been the subject of a number of analytical and implementation investigations since 1990. The purpose of this paper is to improve up on the original stability and robustness proofs for MCS, using the con cept of passivity. In particular, we present a formal stability proof for the basic centralized algorithm, together with robustness proofs i n the cases of plant parameter variations and external disturbances.