Abstract: This paper describes an algorithm for generating provably passive reduced-order N-port models for RLC interconnect circuits. It is demonstrated that, in addition to macromodel stability, macromodel passivity is needed to guarantee the overall circuit stability once the active and passive driver/load models are connected. The approach proposed here, PRIMA, is a general method for obtaining passive reduced-order macromodels for linear RLC systems. In this paper, PRIMA is demonstrated in terms of a simple implementation which extends the block Arnoldi technique to include guaranteed passivity while providing superior accuracy. While the same passivity extension is not possible for MPVL, comparable accuracy in the frequency domain for all examples is observed.

Abstract: 1 Introduction.- 2 Euler-Lagrange systems.- 3 Set-point regulation.- 4 Trajectory tracking control.- 5 Adaptive disturbance attenuation: Friction compensation.- 6 Modeling of switched DC-to-DC power converters.- 7 Passivity-based control of DC-to-DC power converters.- 8 Nested-loop passivity-based control: An illustrative example.- 9 Generalized AC motor.- 10 Voltage-fed induction motors.- 11 Current-fed induction motors.- 12 Feedback interconnected systems: Robots with AC drives.- 13 Other applications and current research.- A Dissipativity and passivity.- 1 Circuit example.- 3 Passivity and finite-gain stability.- 4 Feedback systems.- 5 Internal stability and passivity.- 6 The Kalman-Yakubovich-Popov lemma.- B Derivation of the Euler-Lagrange equations.- 1 Generalized coordinates and velocities.- 2 Hamilton's principle.- 3 From Hamilton's principle to the EL equations.- 4 EL equations for non-conservative systems.- 5 List of generalized variables.- 6 Hamiltonian formulation.- C Background material.- D Proofs.- 3 The BP transformation.- 3.1 Proof of Proposition 9.20.- 3.2 A Lemma on the BP Transformation.- 4 Proof of Eqs. (10.41) and (10.77).- 4.1 A theorem on positivity of a block matrix.- 4.2 Proof of Eq. (10.77).- 4.3 Proof of Eq. (10.41).- 5 Derivation of Eqs. (10.55) and (10.56).- 5.1 Derivation of Eq. (10.55).- 5.2 Derivation of Eq. (10.56).- 6 Boundedness of all signals for indirect FOC.- 6.1 Proof of Proposition 11.10.

Abstract: In this paper we establish passivity for the system which describes the attitude motion of a rigid body in terms of minimal three-dimensional kinematic parameters. In particular, we show that linear asymptotically stabilizing controllers and control laws without angular velocity measurements follow naturally from these passivity properties. The results of this paper extend similar results for the case of the (nonminimal) Euler parameters.

Abstract: A particular problem of controlled synchronization of nonlinear systems is considered. Minimum conditions for producing such synchronization are presented and it is shown that these conditions also provide the feedback passivity of the overall system. It is also demonstrated that the conditions of feedback passivity allow one to design an adaptive synchronizing control law which ensures global synchronization in the cases when the systems to be synchronized have different parameters. Additionally it is demonstrated that the approach presented for the design of synchronizing systems allows one to cope with external disturbances in order to protect the systems from loss of synchrony.

Abstract: A particular problem of controlled synchronization of nonlinear systems is considered. Minimum conditions for producing such synchronization are presented and it is shown that these conditions also provide the feedback passivity of the overall system. It is also demonstrated that the conditions of feedback passivity allow one to design an adaptive synchronizing control law which ensures global synchronization in the cases when the systems to be synchronized have dierent parameters. Additionally it is demonstrated that the approach presented for the design of synchronizing systems allows one to cope with external disturbances in order to protect the systems from loss of synchrony.

Abstract: This paper introduces SyMPVL, an algorithm for the approximation of the symmetric multi-port transfer function of an RLC circuit. The algorithm employs a symmetric block-Lanczos algorithm to reduce the original circuit matrices to a pair of typically much smaller, banded, symmetric matrices. These matrices determine a matrix-Pade approximation of the multi-port transfer function, and can serve as a reduced-order model of the original circuit. They can be ``stamped'' directly into the Jacobian matrix of a SPICE-type circuit simulator, or can be used to synthesize an equivalent smaller circuit. We also prove stability and passivity of the reduced-order models in the RL, RC, and LC special cases, and report numerical results for SyMPVL applied to example circuits.

Abstract: A controller design method which combines passivity based control and sliding mode control is presented for the feedback regulation of a class of switched power converters, the "power factor precompensators" (PFP). Aside from load voltage regulation to a prespecified constant level a vital additional control objective is to avoid reactive losses by keeping the input power factor close to unity. A passivity plus sliding mode control approach is proposed which forces the input current to follow a suitable reference signal which is in phase with the rectified supplied voltage. This results in approximately satisfying both control objectives for the converter. Simulation results are furnished for assessing the performance of the proposed feedback control laws.

Abstract: Jankovic et al. (ibid., vol.4, p.292-7, 1996) developed a series of cascadeand passivity-based control designs for the control of a translational oscillation rotational actuation (TORA) benchmark example. Two of the passivity-based 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.

Abstract: We present a criteria to design the switching control sequence for a nonlinear system in a normal form when the control input exists in a finite set. The criteria is based on the minimization of a Lyapunov function and the concept of output regulated subspaces presented by Ludvingsen et al. (1998). Moreover, we propose to modify the controller by adding a passivity based algorithm in order to improve the transient behavior and reduce the control effort. The technique is applied to the well known three phase boost type rectifier for which simulations results are provided in order to show the improvement in the transient response. Results are compared with the controller based in sliding mode approach reported by Sabanovic-Behlilovic et al. (1994).

Abstract: In this article an advantageous combination of differential flatness and passivity based control is proposed for the feedback regulation of DC-to-DC power converters of the "boost" type. Controllers are designed for a single stage "boost" converter and also for a two-stage multivariable version of the "boost" converter. The results are illustrated by means of digital computer simulations.

Abstract: Rapid distributed circuit simulation is now being recognized as a critical component of next-generation computer-aided design frameworks to be used for performance evaluation and design of the information processing and communication systems of the 21st century. Apart from very simple systems, computer simulation of electromagnetic interactions in high-speed interconnects and packaging structures is hindered by the very large number of degrees of freedom involved in the discrete model. One potentially useful approach to overcoming this computational bottleneck is model order reduction, where parts of the electromagnetic model are replaced by models which are of substantially lower order, yet are capable of capturing the electromagnetic behaviour of the original subsystems with sufficient engineering accuracy. Reliable use of the generated reduced-order model in network-oriented simulators depends strongly on its passivity. This paper presents methodologies for the generation of passive reduced-order models of interconnect networks. Furthermore, it proposes a general set of constraints on the state representation of the discrete interconnect model for the reduced order model to be passive.

Abstract: The problem of passivity analysis finds important applications in many signal processing systems such as digital quantizers, decision feedback equalizers and digital and analog filters. This paper considers the passivity analysis problem for a large class of systems which involve uncertain parameters, time delays, quantization errors, and unmodeled high order dynamics. By characterizing these and many other types of uncertainty using a general tool called integral quadratic constraints (IQCs), we present a solution to the problem of robust passivity analysis. More specifically, we determine if a given uncertain system is robustly passive. The solution is given in terms of the feasibility of a linear matrix inequality (LMI) which can be solved efficiently.

Abstract: In this article a general canonical form is proposed for a class of delay differential systems which explicitly identifies the conservative, the dissipative and the locally destabilizing forces in the uncontrolled delayed drift vector field. The proposed canonical form is helpful in the design of passivity based controllers. A design example is presented along with computer simulations.

Abstract: To develop a tool to analyze stability and design compensators that damp voltage oscillations in a power distribution system, we devised, taking into account the diode rectifier and the IGBT/GTO inverter, a control scheme so that the motor is seen as a passive load by the network. This property is obtained for the error signals (voltage, current) resulting from perturbations. For a constant rotor speed set point, a rotor flux trajectory has been computed for the system to satisfy the passivity definition and to guarantee the signal boundedness and asymptotic stability for the rotor flux and speed.

Abstract: An approach to robust process control based on the passivity theorem has beennaddressed in this thesis. The aim of this work is to gain better understanding ofnpassive systems and develop systematic approaches to passivity-based robust process control, which can be less conservative than the main-streamed small-gain basednrobust control methods.Properties of Multi-Input Multi-Output (MIMO) passive systems are examinednin this thesis. The difference between Lyapunov stability and passivity has beenndiscussed and concepts of passivity and passive systems were interpreted in a morenintuitive language. In particular, new phase properties of linear MIMO passivensystems have been revealed.A passivity-based robust control strategy was investigated. The research scopesnare specified as follows:(1) To characterise the uncertainty by using the passivity index, an index whichnindicates how far the uncertainty system is from being passive.(2) To derive passivity-based robust stability conditions.(3) To design controllers that satisfy the passive-based stability condition so thatnrobust stability is guaranteed.As the major outcome of this study, two alternative control methods have beenndeveloped.In the qblendedq approach, the uncertainty was characterised in terms of thenpassivity index at low frequencies and the Hi norm at high frequencies. A newnstability condition which combines the passivity theorem and the small gain theoremnin different frequency bands was derived. The control performance was analysed andna controller design method was then developed to achieve both performance andnrobustness specifications. This approach can be used if the uncertainty is near passivenat low frequencies.n n n n n

Abstract: The bond graph approach is proposed to obtain a passivity-based controller for the stabilization of the average bond graph model of the boost converter. A damping injection is introduced in order to achieve asymptotic stability. The performance of the proposed controller obtained from the passivity-based model is tested through computer simulation.

Abstract: In Jankovic et al., a series of cascade- and passivity-based control designs are developed for the control of a translational oscillation rotational actuation (TORA) benchmark example. Two of the passivity- based 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.

Abstract: In approach to passivity is utilised for analysing the stability of a distribution network. We model the network according to a decomposition in passive subsystems. The stability properties L/sub 2/ where asymptotic are deduced when the network is submitted to voltage perturbations.