IEEE Transactions on Automatic Control, Vol.54, No.7, 1723-1727, 2009
State Convergence of Passive Nonlinear Systems With an L-2 Input
We show that the state of a strictly output passive system with an L-2 input converges to zero. The result is applied to the disturbance rejection problem (with reference signal zero), where the disturbance can be decomposed into a finite superposition of sine waves of arbitrary but known frequencies and an L-2 signal. Using an LTI controller, constructed based on the internal model principle, the state trajectories of the plant (and hence also the error signal) converge to zero.
Keywords:Disturbance rejection problem;internal model principle;invariant sets under a semiflow;passive system