Robust control of non-passive systems via passification [for passification read passivation]

This paper presents methods which enable the use of passivity-based control design techniques to control nonpassive systems. For inherently nonpassive finite-dimensional linear time-invariant systems, passivation methods are presented to render such systems passive by suitable compensation. The passive system can then be controlled by a class of passive linear controllers. The idea is to exploit the robust stability properties of passivity-based control laws for uncertain systems. The proposed passivation methods are demonstrated by application to the ACC benchmark problem and to pitch-axis control of an F-18 High Alpha Research Vehicle (HARV) model.