Passivity: State Models

Definition 5.3
The system
x = f (x, u), y = h(x, u)
is passive if there is a continuously differentiable positive
semidefinite function V (x) (the storage function) such that

V
uT y V = f (x, u), (x, u)
x
Moreover, it is
lossless if uT y = V
input strictly passive if uT y V + uT (u) for some
function such that uT (u) > 0, u 6= 0
output strictly passive if uT y V + y T (y) for some
function such that y T (y) > 0, y 6= 0
strictly passive if uT y V + (x) for some positive
definite function

Nonlinear Control Lecture # 6 Passivity and Input-Output Stability