Robust control of non-passive systems via passification

This paper presents methods which enable the use of passivity-based control design techniques to control non-passive systems. For inherently non-passive finite-dimensional linear time-invaraint systems, pacification methods are presented to render such systems passive by suitable compensation. The pacified system can then be controlled by a class of passive linear controllers. The idea is to exploit the robust stability properties of passivity-based control laws for uncertain systems. The proposed pacification methods are demonstrated by application to the ACC benchmark problem and to pitch-axis control of an F-18 High Alpha Research Vehicle (HARV) model.