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A new family of interconnection and damping assignment passivity‐based controllers

The by‐now standard formulation of interconnection and damping assignment passivity‐based control (for input‐affine systems) proposes the solution of a partial differential equation (PDE) that defines the assignable energy functions and computes the control using the input matrix pseudo‐inverse. However, in its original formulation—a more general design procedure was proposed, which was essentially abandoned because of the difficulties in solving the PDE. In this note, a new family of interconnection and damping assignment passivity‐based controls is proposed by extending this method in the following directions: (i) It allows the desired interconnection and damping matrices to depend on the control signal, giving the possibility to shape the PDE to ensure its solvability; (ii) the PDE directly generates the control signal that have, in general, simpler expressions; and (iii) it is applicable for general nonlinear systems possibly not affine in the control. The technique is illustrated with three examples, including the well‐known boost power converter for which it yields a simple, high‐performance controller. Copyright © 2016 John Wiley & Sons, Ltd.