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)|
|Number of pages||5|
|Journal||Proceedings of the American Control Conference|
|State||Published - Dec 1 1994|
ASJC Scopus subject areas
- Control and Systems Engineering