A passivity based decentralized control design methodology with application to vehicle dynamics control

Carlos Villegas, Martin Corless, Wynita Griggs, Robert Shorten

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2 Citations (Scopus)


A basic problem in the design of control systems is the lack of simple effective methods for designing decentralized control systems that are robust with respect to certain types of structural uncertainties. Here, we present one such design methodology that is based upon the Kalman-Yakubovich-Popov Lemma. Advantages of this approach include the ease with which output feedback controllers can be designed, and the fact that the design methodology and uncertainties are expressed using classical frequency domain notions. We use our design technique to obtain an integrated chassis controller for application to automotive dynamics.

Original languageEnglish
Article number011014
JournalJournal of Dynamic Systems, Measurement, and Control
Issue number1
Publication statusPublished - 2012
Externally publishedYes


  • block diagonal stability
  • control system design methodology
  • D-K iteration
  • decentralized control
  • integrated chassis control
  • Kalman-Yakubovich-Popov lemma
  • passivity
  • robust control
  • vehicle emulator

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