Passivity-based control of nonlinear systems: A tutorial

Romeo Ortega, Zhong P. Jiang, David J. Hill

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

26 Citations (Scopus)


In this paper we survey some recent results on stabilization of nonlinear systems using a passivity approach. In the first part of the paper we treat general systems and develop a unified framework for passivity-based nonlinear control design. In the second part we center our attention on systems described by Euler-Lagrange equations, with particular emphasis on mechanical systems, power converters and AC motors.

Original languageEnglish
Title of host publicationProceedings of the 1997 American Control Conference
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages5
Publication statusPublished - 1997
Externally publishedYes
EventAmerican Control Conference 1997 - Albuquerque, United States of America
Duration: 4 Jun 19976 Jun 1997


ConferenceAmerican Control Conference 1997
Country/TerritoryUnited States of America
Internet address

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