Nonlinear adaptive control of feedback passive systems

An adaptive controller that solves the problem of rendering a system passive is presented for a special class of systems with parametric uncertainty. The proposed control uses techniques of speed-gradient methodology from the Russian literature. Stability results can be given that do not require commonly used assumptions such as linearity in the parameters. Algorithms that render the system strictly passive clarify some already known in the control of mechanical systems.link_to_subscribed_fulltex