Читать книгу PID Passivity-Based Control of Nonlinear Systems with Applications - Romeo Ortega - Страница 18

Throughout the book, we consider the nonlinear system described in (1) wrapped around a PID controller described by

(2.1)

where with , and are the PID tuning gains. The key property of PID controllers that we exploit in the book is that it defines an output strictly passive map . This well‐known property (Ortega and García‐Canseco, 2004; van der Schaft, 2016) is summarized in the lemma below.