PHYSICAL INSIGHTS ON PASSIVITY-BASED TORA CONTROL DESIGNS

In Jankovic et al., a series of cascade- and passivity-based control d esigns are developed for the control of a translational oscillation ro tational actuation (TORA) benchmark example. Two of the passivity-base d 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.