Passivitybased control of eulerlagrange systems by romeo ortega, 9781849968522, available at book depository with free delivery worldwide. Pdf passivitybased control of eulerlagrange systems. The notion of passivitybased control pbc is explained in detail also in this chapter. We highly recommend passivitybased control of eulerlagrange systems. Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivitybased control techniques and the engineer seeking experimentally proven techniques. Mechanical, electrical and electromechanical applications romeo ortega, antonio lor a, per j. Eulerlagranges equations in several variables so far we have studied. Linear control of eulerlagrange systems sciencedirect.
Mechanical, electrical and electromechanical applications romeo ortega, antonio lor a. The reader should rather consider this presentation as very concise image of the material. We have shown already in chapter 8 how we can combine backstepping. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader. Romeo ortega, antonio loria, per johan nicklasson and hebertt siraramfrez. Passivitybased control of eulerlagrange systems mechanical. A passivitybased control of eulerlagrange systems with a. The fundamental concept of passivity and the perspective of control as a suitable interconnection of the system with its environment are key ingredients in all the developments of the book, which is primarily aimed at control orientated graduate students and researchers, but which will also have value for both practising engineers and those. Euler lagranges equations must be true also for these coordinates.
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