Passivity of a class of sampled-data systems: Application to haptic interfaces

J. Edward Colgate*, Gerd G. Schenkel

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

313 Scopus citations


Passivity of systems comprising a continuous time plant and discrete time controller is considered. This topic is motivated by stability considerations arising in the control of robots and force-reflecting human interfaces ("haptic interfaces"). Necessary conditions for passivity are found via a small gain condition, and sufficient conditions are found via an application of Parseval's theorem and a sequence of frequency domain manipulations. An example - implementation of a "virtual wall" via a one degree-of-freedom haptic interface - is given and discussed in some detail.

Original languageEnglish (US)
Pages (from-to)37-47
Number of pages11
JournalJournal of Robotic Systems
Issue number1
StatePublished - Jan 1997

ASJC Scopus subject areas

  • Control and Systems Engineering


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