A Novel Theory for Sample Data System Passivity

S. Stramigioli, C. Secchi, A.J. van der Schaft, C. Fantuzzi

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    Abstract

    This paper presents a novel way to approach the interconnection of a continuous time and a discrete time physical system. This is done in a way which preserve passivity of the coupled system independently of the sampling time T. A direct application is in the field of haptic displays where virtual environment should feel like equivalent physical systems.
    Original languageEnglish
    Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherUniversity of Groningen, Johann Bernoulli Institute for Mathematics and Computer Science
    Number of pages6
    ISBN (Print)0780373987
    Publication statusPublished - 2002

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