Passivity-based control for stabilization, regulation and tracking purposes of a class of nonlinear systems

In this paper, a new passivity-based control (PBC) scheme based on state feedback is proposed in order to solve tracking, regulation and stabilization problems for a class of multi-input multi-output (MIMO) nonlinear systems expressed in the normal form, with time-invariant parameters and locally bounded reference weakly minimum phase. For the proposed control scheme two new different state feedbacks, one non-adaptive for the case when the system parameters are assumed to be known and the other adaptive for the case of unknown parameters, are developed. For the adaptive case it is assumed that the unknown parameters appear linearly in the equations. Analysis of the transient behaviour of the proposed control schemes is presented through the simulation of two examples.