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1、Passivity-basedControlofEuler-LagrangeSystems:Mechanical,ElectricalandElectromechanicalApplicationsRomeoOrtega,AntonioLora,PerJ.Nicklasson,HeberttSira-Ramrez.ToAmparowithallmylove,Romeo.ToLenawithr=1;sin,toMarimysisterwithmydeepestadmiration,To~no.Tomyparents,PerJohan.ToJoseHumbertoOcarizE.
2、withrespectanda ection,toMaraElenaandMaraGabrielawithallmylove,Hebertt.PrefaceByitsownde nitionthe nalpurposeofcontrolistocontrolsomething.Infact,thefoundationaldevelopmentsofHuygens,Maxwell,Routh,Minorsky,NyquistandBlack(tonameafew)weremotivatedbyreal{worldapplications.Inthehandsofmathematic
3、ianssuchasWiener,Bellman,Lefschetz,KalmanandPontryagin(again,tonamejustafew)controltheorydevelopedinthe1950sand1960sasabranchofap-pliedmathematics,independentofitspotentialapplicationtoengineeringproblems.Sometenuousargumentsweretypicallyinvokedtoprovidesomepracticalmotiva-tiontotheresearchonthis
4、so{calledmathematicalcontroltheory.Forinstance,thestudyofthetriple(ABC)wasrationalizedasthestudyofthelinearizationofanarbitrarynonlinearsystem{anargumentthathadagrainoftruth.Bytheendofthe1980safairlycompletebodyofknowledgeforgenerallinearsystems{includingpowerfultechniquesofcontrollersynthesis{
5、hadbeencompleted.Somespectacu-larapplicationsofthistheorytopracticalsituationsthat ttedthelinearsystemsparadigmwerereported.Theattempttomimicthedevelopmentsoflinearsystemstheoryinthegeneralnonlinearcaseenticedmanyresearchers.Extensionstoafairlygeneralclassofnon-linearsystemsofthebasicconceptsofco
6、ntrollability,observability,andrealizabilitywerecrownedwithgreatsuccess.Thecontrollersynthesisproblemprovedtobe,however,muchmoreelusive.Despitesomesigni cantprogress,todate,generaltech-niquesforstabilizationofnonlinearsystemsareavailableonlyforspecialclassesofnonlinearsystems.Thisis,ofcourse,duet
7、othedauntingcomplexityofthebehaviourofnonlineardynamicsystemswhichputsaseriousquestionmarkontheinterestofaimingatamonolithicsynthesistheory.Ontheotherhand,newtechnologicalde-velopmentshadcreatedengineeringproblemswhere
