Closed-Loop System Sensitivity Analysis for Passivity-Based Controller Parameters

The current paper proposes a method to design a Krasovskii passivity-based controller for finite-order single-input single-output input-affine nonlinear systems. Starting from the linear matrix inequality conditions which return a feasible controller, the sensitivity analysis of the parameter encompassed into the feasible cone is performed using the eigenvalues of the linearized system around an equilibrium point. Such a component manages to guarantee the closed-loop asymptotic stability of the nonlinear plant irrespective of the operating point, while the desired robust performance specifications are fulfilled by a robust path-planning component designed using µ-synthesis. A step-by-step design methodology, along with the performance of the proposed approach are illustrated using a DC-DC single-ended primary inductor converter.