Direct passivity of a class of MIMO non-linear systems using adaptive feedback

In this paper, an adaptive controller with adaptive laws specially designed is proposed to solve the problem of making a multi-input multi-output (MIMO) non-linear system, with explicit linear parametric uncertainty, equivalent to a passive system. These results are an extension of those obtained by the authors for the SISO case. Some stability issues associated to the resultant closed-loop passive system are also discussed. The results obtained are applied to models of dynamical MIMO systems, to illustrate the controller design methodology.