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Dissipative Decomposition and Feedback Stabilization of Nonlinear Control Systems
This dissertation considers the problem of approximate dissipative potentials construction and their use in smooth feedback stabilization of nonlinear control systems. For mechanical systems, dissipative potentials, usually ...
Geometric Aspects of Interconnection and Damping Assignment - Passivity-Based Control
This dissertation deals with smooth feedback stabilization of control-affine systems via Interconnection and Damping Assignment - Passivity-Based Control (IDA-PBC). The IDA-PBC methodology is a feedback control design ...