Abstract
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'). A necessary and sufficient condition for the passivity of a class of sampled-data systems is derived. An example - implementation of a 'virtual wall' via a one degree-of-freedom haptic interface - is presented.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3236-3240 |
| Number of pages | 5 |
| Journal | Proceedings of the American Control Conference |
| Volume | 3 |
| State | Published - Dec 1 1994 |
ASJC Scopus subject areas
- Control and Systems Engineering