Читать книгу PID Passivity-Based Control of Nonlinear Systems with Applications - Romeo Ortega - Страница 17

In this chapter, we present the PID controller structure considered throughout the book and discuss the motivation to wrap the controller around a passive output – that we call in the sequel PID‐PBC. We present the basic construction of PID‐PBCs using the so‐called natural passive output. We discuss the technical issue of well posedness of the feedback interconnection and discuss the role of the dissipation structure of the system on the feasibility of using this kind of PID‐PBC. Finally, we briefly discuss the connection of PID‐PBC with the formally appealing method of control by interconnection (CbI).