Читать книгу PID Passivity-Based Control of Nonlinear Systems with Applications - Romeo Ortega - Страница 34

1 1 Essentially, it is necessary to ensure that the control law 2.1 can be computed without differentiation nor singularities. We will elaborate on this issue in Section 2.2.

2 2 We recall that a necessary condition for passivity of the system is that the relative degree is smaller or equal to one (van der Schaft, 2016).