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This paper presents a design method for feedback controls which leads to an exponentially decaying Lyapunov function for the closed-loop system. The rate of decay is the only and thus central parameter of the proposed design. The tight connection between the control law and the Lyapunov function is particularly favorable once the input saturation becomes active. In that case an analytic estimate for...
In this contribution a new systematic approach is presented to achieve desired local linear error dynamics for trajectory tracking of a nonlinear plant, where passivity based control by interconnection and damping assignment (IDA-PBC) is used to stabilize the error dynamics. Especially in the tracking case the solvability of the matching PDEs may restrict a state-independent dissipation matrix for...
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