A GENERAL CANONICAL FORM FOR FEEDBACK PASSIVITY OF NONLINEAR-SYSTEMS

In this article projection operators are used for obtaining a natural canonical form, for non-linear single-input single-output systems, whi ch clearly exhibits the conservative, the dissipative and the locally destabilizing forces present in the drift vector field of a given syst em, for which a storage function is known. When the system's natural ' energy management' structure is revealed, a suitable state-dependent i nput coordinate transformation makes the system passive or strictly ou tput passive. A direct application of the 'energy shaping plus damping injection' controller design method, which is a well known controller design option for passive systems, may then be attempted. A bioreacto r controller design example is presented, for illustrative purposes, w hich includes computer simulations.