Passivity

Based
Control

By
Pushpak Jagtap

1 Pushpak Jagtap
Introduction

Passivity is a fundamental property of physical systems defined in

terms of energy dissipation and transformation.

Property of stability in an input-output sense

Passive systems are a class of dynamical systems in which the

energy exchanged with the environment plays a central role.

It is used to design storage function as a Lyapunov function by

selecting passive output.

The term passivity-based control (PBC) was introduced in Ortega

and Spong (1989).

2 Pushpak Jagtap
Key features

The passivity based approach provides physical interpretations by

considering energy flow, dissipation, and interconnections.

The gist of passivity based control is to achieve desired control

objective (i.e. stabilization, performance, robustness, etc.) by
incorporating energy principle in control by considering plant-controller
interconnection as energy transform devices.

Provides proper and easier way to design Lyapunov function

Passivation is easier than stabilization.

3 Pushpak Jagtap
Passive system

The system is passive, if the energy absorbed by the network over any
period of time [0, t] must be greater than or equal to the increase in the
energy stored in the network over the same period
𝑡
න 𝑢 𝑠 𝑦 𝑠 𝑑𝑠 ≥ 𝑉 𝑥 𝑡 − 𝑉(𝑥(0))
0

After taking derivative,

ሶ
𝑉(𝑥(𝑡)) ≤ 𝑢 𝑡 𝑦(𝑡)

(i.e. the rate of change of energy stored must be less than or equal to the
power flow into system)

Here, u - input; y – output; V is storage function

4 Pushpak Jagtap
Definitions

The system 𝑥ሶ = 𝑓 𝑥, 𝑢 ; 𝑦 = ℎ(𝑥, 𝑢) is said to be passive if there exists a

differentiable positive semi-definite storage function 𝑉(𝑥) such that
𝜕𝑉
𝑢𝑇 𝑦 ≥ 𝑉ሶ = 𝑓 𝑥, 𝑢 , ∀ 𝑥, 𝑢 ∈ ℝ𝑛 × ℝ𝑝
𝜕𝑥

Moreover,

• Lossless, if 𝑢𝑇 𝑦 = 𝑉.
ሶ

• Input-feedforward passive if 𝑢𝑇 𝑦 ≥ 𝑉ሶ + 𝑢𝑇 𝜑 𝑢

• Output-feedback passive if 𝑢𝑇 𝑦 ≥ 𝑉ሶ + 𝑦 𝑇 𝜑 𝑦

• State strictly passive if 𝑢𝑇 𝑦 ≥ 𝑉ሶ + 𝜓 𝑥 for some positive definite function 𝜓

5 Pushpak Jagtap
Stability analysis using passivity
approach

If system is passive with 𝑉(𝑥) > 0 , then the origin 𝑥ሶ = 𝑓 𝑥, 0 is stable.

If system is output strictly passive, then it is finite-gain L2 stable.

If system is output strictly passive with 𝑉(𝑥) ≥ 0 and zero-state

observable, then the origin 𝑥ሶ = 𝑓 𝑥, 0 is asymptotically stable.

If system is state strictly passive with 𝑉(𝑥) ≥ 0 , then the origin 𝑥ሶ =

𝑓 𝑥, 0 is asymptotically stable.

Furthermore, if 𝑉(𝑥) is radially unbounded then it can be said globally

asymptotically stable.

6 Pushpak Jagtap
Stability in case of interconnection

H1 and H2 are
passive
system

a) feedback b) parallel

1. Feedback and parallel connection of passive systems is passive

2. The origin of closed loop system is asymptotically stable if
- both feedback components are strictly passive
- both feedback components are output strictly passive and zero
state detectable
- One component is strictly passive and other output strictly passive
and zero state detectable

7 Pushpak Jagtap
Another interpretation

Kalman–Yacubovich–Popov’s lemma

Let a linear system be described in state–space as

𝑥ሶ = 𝐴𝑥 + 𝐵𝑢
𝑦 = 𝐶𝑥

Suppose A is strictly stable, the pair (A,B) is controllable and the pair
(A,C) is observable. Under this conditions, the operator G : uy is passive
if and only if ∃P=PT>0, such that
𝐴𝑇 𝑃 + 𝑃𝐴 ≤ 0
𝐵𝑇 𝑃 = 𝐶

8 Pushpak Jagtap
Nonpassive to passive
Consider a nonpassive system,
𝑥ሶ = 𝑓 𝑥 + 𝑔 𝑥 𝑢
𝑦 = ℎ(𝑥)

It can be passify with feedback 𝑢 = 𝛼 𝑥 + 𝛽 𝑥 𝑣 such that the system

𝑥ሶ = 𝑓 𝑥 + 𝑔 𝑥 𝛼 𝑥 + 𝑔(𝑥)𝛽 𝑥 𝑣
𝑦=ℎ 𝑥

become passive for output y and input v. The process is called Feedback
Passivation.

Conditions:

• Relative degree should not be larger than one

• Zero dynamics must not be unstable

9 Pushpak Jagtap
Control design approach

Propose models that capture main physical ingredients such as energy,

dissipation, interconnection, etc.

Decide passive output y and storage function V as a function of passive

output.

Three possible formulations:

1. Energy shaping:

• Energy-balancing interpretation of stabilization

• Energy function of the system is modify in such a way that the new
energy function has a global and unique minimum in the desired
equilibrium.

• State feedback either to passivize or to change the energy function

(and dissipation).

10 Pushpak Jagtap
Control design approach (Cont.)

2. Interconnection and Damping Assignment (IDA)

• plant and controller as energy–transformation devices, whose energy is

added up.

• not only reshape systems energy but also attains desired

interconnections and dissipation.

• Storage function incorporate energy function.

3. By decomposing the system into passive sub-blocks and design PBCs

for each one of them.

11 Pushpak Jagtap
Example 1: Simple spring mass
damper system
Dynamics: 𝑚𝑥ሷ + 𝑏𝑥ሶ + 𝑘𝑥 = 𝐹
State space form with 𝑥1 , 𝑥2 = 𝑥, 𝑚𝑥ሶ
𝑥2
𝑥ሶ1 =
𝑚
𝑏
𝑥ሶ 2 = − 𝑥2 − 𝑘𝑥1 + 𝑢
𝑚
𝑥2
𝑦=
𝑚
Storage Function: (radially unbounded)
1 2 1 𝑥22
𝑉 = 𝑘𝑥1 +
2 2𝑚
then
𝑥2 𝑥22 𝑥2 𝑥2
ሶ𝑉 = 𝑘𝑥1 − 𝑏 − 𝑘𝑥 1 + 𝑢 = −b𝑦 2 + 𝑦𝑢
𝑚 𝑚2 𝑚 𝑚
If we design u as 𝑢 = −𝑘𝑦  𝑉ሶ ≤ − 𝑏 + 𝑘 𝑦 2 < −𝑏𝑦 2 < 0 System is globally
i.e. system is strictly output passive and zero state asymptotically
observable (i.e. zeroing of output make all states zero.) stable

12 Pushpak Jagtap
 Example 2: m-link robotic arm

Typical dynamics
𝑀(𝑞)𝑞ሷ + 𝐶 𝑞, 𝑞ሶ 𝑞ሶ + 𝐷𝑞ሶ + 𝑔 𝑞 = 𝑢

The tracking dynamics with e=q-qr are

𝑀(𝑞)𝑒ሷ + 𝐶 𝑞, 𝑞ሶ 𝑒ሶ + 𝐷𝑒ሶ + 𝑔 𝑞 = 𝑢

Let 𝑢 = 𝑔 𝑞 − 𝐾𝑝 𝑒 + 𝑣 1
Reshapes energy to 𝑒 𝑇 𝐾𝑝 𝑒 with unique minima at e=0
2
passifying feedback
Now consider storage function as,
1 𝑇 1 𝑇
𝑉 = 𝑒ሶ 𝑀(𝑞)𝑒+ ሶ 𝑒 𝐾𝑝 𝑒
2
2
ሶ𝑉 = 1 𝑒ሶ 𝑇 𝑀ሶ − 2𝐶 𝑒ሶ − 𝑒ሶ𝑇 𝐷 𝑒ሶ − 𝑒ሶ𝑇 𝐾𝑝 𝑒 + 𝑒ሶ𝑇 v + 𝑒 𝑇 𝐾𝑝 𝑒 ሶ ≤ 𝑒ሶ 𝑇 v
2
Thus with y = 𝑒ሶ as output and v as input the system is passive. Now if we
select v = f y = −𝐾𝑒,ሶ it becomes output strict passive and also it is zero
state observable. The system becomes globally asymptotic stable.

13 Pushpak Jagtap
Example 3: Magnetic Levitation System

 Nonlinear and underactuated system

Energies evolved in system:
• Magnetic field co-energy,
1
𝜏𝑒 = 𝐿(𝑦)𝑞ሶ 𝑒2
2
• Mechanical kinetic energy,
1
𝜏𝑚 = 𝑚𝑦ሶ 2
2
• Potential energy,
𝜐 = 𝑚𝑔 1 − 𝑦
𝑘
Where, 𝐿 𝑦 = , 𝑎 > 0 is a nominal air gap, k is a
𝑎−𝑦

constant depending on number of turns, permeability,

area of cross-section.

14 Pushpak Jagtap
 Mathematical models
Using Euler-Lagrange Method:
𝑀 𝑦 𝑞ሷ + 𝐶 𝑞,ሶ 𝑦, 𝑦ሶ 𝑞ሶ + 𝑅 𝑞ሶ + 𝐺 = 𝐵𝑢, 𝑞 = [𝑞𝑒 , 𝑦]𝑇

𝐿(𝑦) 0 𝑘 𝑦ሶ 𝑞𝑒ሶ 𝑅𝑒 0 0 1
𝑀 𝑦 = ;𝐶 = ;R = ;𝐺 = ;𝐵 =
0 𝑚 2(𝑎 − 𝑦)2 −𝑞𝑒ሶ 0 0 0 𝑚𝑔 0

Using Port-Hamiltonian approach: 𝑥 = 𝜙, 𝑦, 𝑝 , 𝑝 = 𝑚𝑦ሶ

𝑥ሶ = 𝐽 − 𝑅 𝛻𝐻 + 𝐵𝑢
0 0 0 𝑅𝑒 0 0 𝜕𝐻 1
𝑥ሶ = 0 0 1 − 0 0 0 + 0 𝑢
𝜕𝑥
0 −1 0 0 0 0 0
1 1
Storage function, 𝐻 𝑥 = 𝑎 − 𝑥2 𝑥12 + 𝑥32 + 𝑚𝑔𝑥2
2𝑘 2𝑚

Equilibrium condition, 𝑥 ∗ = [ 2𝑘𝑚𝑔, 𝑦 ∗ , 0]𝑇

Remark: The boxes indicates that there is lack of coupling between electrical and
mechanical subsystems which makes it non-passive/unstable.
15 Pushpak Jagtap
Control design using IDA-PBC

Consider closed-loop system with desired interconnection, damping and

energy function 𝐽𝑑 = −𝐽𝑑 𝑇 , 𝑅𝑑 = −𝑅𝑑 𝑇 > 0, and 𝐻𝑑 , respectively.
𝜕𝐻𝑑
𝑥ሶ = (𝐽𝑑 − 𝑅𝑑 )
𝜕𝑥

By considering 𝑢 = 𝛽 𝑥 , the matching equation becomes,

𝜕𝐻 𝜕𝐻𝑑
𝐽−𝑅 + 𝐵𝛽 𝑥 = (𝐽𝑑 − 𝑅𝑑 )
𝜕𝑥 𝜕𝑥

By considering 𝐻𝑑 = 𝐻 + 𝐻𝑎 , 𝐽𝑑 = 𝐽 + 𝐽𝑎 and 𝑅𝑑 = 𝑅 + 𝑅𝑎 the matching

equation simplifies to,
𝜕𝐻𝑎 𝜕𝐻
𝐽 + 𝐽𝑎 − 𝑅 − 𝑅𝑎 = − 𝐽𝑎 − 𝑅𝑎 + 𝐵𝛽 𝑥
𝜕𝑥 𝜕𝑥

16 Pushpak Jagtap
IDA-PBC cont.

0 0 −𝛾
By assuming, 𝐽𝑎 = 0 0 0 𝑎𝑛𝑑 𝑅𝑎 = 0, the obtained PDE is
𝛾 0 0
𝜕𝐻𝑎 𝜕𝐻𝑎 𝑥1 𝑎 + 𝑥2
𝛾 − = −𝛾
𝜕𝑥1 𝜕𝑥2 𝑘

After solving PDE

1 3 1 2 1
𝐻𝑎 = 𝑥1 + 𝑥1 𝑥2 − 1 + 𝜓(𝑥2 + 𝑥1 )
6𝑘𝛾 2𝑘 𝛾

The obtained control law is

𝜕𝐻𝑎 𝑥3
𝑢 = 𝑅𝑒 −𝛾
𝜕𝑥1 𝑚
𝑥1 𝑎 − 𝑥2 𝑥1 2 𝑚𝑔 𝑥1 − 𝑥1 ∗ 𝛾
𝑢 = 𝑅𝑒 − + −𝜓 + 𝑥2 − 𝑥2 ∗ − 𝑥3
𝑘 2𝑘𝛾 𝛾 𝛾 𝑚

17 Pushpak Jagtap
Tracking response

Tracking response with IDA-PBC

18 Pushpak Jagtap
Example 4: Formation control of Multi-
Agent System
Required notations:

For group of N agents with bidirectional communication with neighbors,

the incidence matrix D of the network graph is,

+1 if 𝑖𝑡ℎ node is the positive end of the 𝑘 𝑡ℎ link

𝐷 = 𝑑𝑖𝑘 ; 𝑑𝑖𝑘 = ൞−1 if 𝑖𝑡ℎ node is the negative end of the 𝑘𝑡ℎ link
0 Otherwise

𝑁
𝑥𝑖 − 𝑥𝑗 𝑖𝑓 𝑖 𝑖𝑠 𝑎 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 𝑒𝑛𝑑
𝑧𝑘 = ෍ 𝑑𝑙𝑘 𝑥𝑙 = ൝
𝑥𝑗 − 𝑥𝑖 𝑖𝑓 𝑗 𝑖𝑠 𝑎 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 𝑒𝑛𝑑
𝑙=1

𝑧 = 𝐷𝑇 ⨂𝐼𝑝 𝑥

19 Pushpak Jagtap
Passivity based control schematic
through interconnection

external feedback

internal feedback

20 Pushpak Jagtap
Internal passive feedback design

consider fully actuated point masses as,

𝑥ሷ 𝑖 = 𝑓𝑖

The internal feedback designed as,

𝑓𝑖 = −𝐾𝑖 𝑥ሶ 𝑖 − 𝑣 + 𝑣ሶ + 𝑢𝑖

By change of variable, 𝜉𝑖 = 𝑥ሶ 𝑖 − 𝑣

The resulting system is

𝜉𝑖ሶ = −𝐾𝑖 𝜉𝑖 + 𝑢𝑖
ℋ𝑖 ൝
𝑦𝑖 = 𝜉𝑖

Which is strictly passive

21 Pushpak Jagtap
External passive feedback design
It is needed to add multivariable nonlinearities 𝜓𝑘 (𝑧𝑘 ) to steer 𝑧𝑘 to
desired relative distance 𝐴𝑘 and to avoid collision
𝜓𝑘 𝑧𝑘 = 𝛻𝑃𝑘 (𝑧𝑘 )

Where 𝑃𝑘 𝑧𝑘 is a nonnegative continuous function such that

• 𝑃𝑘 𝑧𝑘 and its gradient 𝛻𝑃𝑘 (𝑧𝑘 ) vanishes at 𝐴𝑘 (Target Set)

• 𝑃𝑘 (𝑧𝑘 ) → ∞ as 𝑧𝑘 → ∞ and 𝑧𝑘 → 0
𝛿𝑘
One of the possibility: 𝑃𝑘 𝑧𝑘 = (𝑧𝑘 − 𝐴𝑘 )2 ⟹ 𝜓𝑘 𝑧𝑘 =𝛿𝑘 (𝑧𝑘 − 𝐴𝑘 )
2

Other possibility: 𝑃𝑘 𝑧𝑘 = 𝑧𝑘 − ln 𝑧𝑘 − 1

Avoids collision
Control law: 𝑀

𝑢𝑖 = − ෍ 𝑑𝑖𝑘 𝜓𝑘 𝑧𝑘
𝑘=1
22 Pushpak Jagtap
Equilateral triangle formation using
passivity approach

Desired:|zk|=1

23 Pushpak Jagtap
References
1. Romeo Ortega, Antonio Loria,Per J.Nicklasson, Passivity-based Control of
Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical
Applications.
2. Sepulchre, Rodolphe, Mrdjan Jankovic, and Petar V. Kokotovic. Constructive
nonlinear control. Springer Science & Business Media, 2012.
3. Kokotovi, Petar, and Murat Arcak. "Constructive nonlinear control: a historical
perspective." Automatica 37.5 (2001): 637-662.
4. Arjan Van der Shaft, L2 Gain and Passivity Techniques in Nonlinear Control,
Springer,2000
5. Khalil, Hassan K., and J. W. Grizzle. Nonlinear systems. Vol. 3. Upper Saddle
River: Prentice hall, 2002.
6. Ortega, Romeo, Zhong P. Jiang, and David J. Hill. "Passivity-based control of
nonlinear systems: A tutorial." Proceedings of the American control
conference, Vol 5, 1997.
7. Arcak, M., "Passivity as a Design Tool for Group Coordination," Automatic
Control, IEEE Transactions on, vol.52, no.8, pp.1380-1390, Aug. 2007.

24 Pushpak Jagtap
 Thank You

25 Pushpak Jagtap