Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control.

Hamiltonian control systems [11, 6] are the systems described by Hamilton's canonical equations which represent general physical systems. Recently portcontrolled Hamiltonian systems are introduced as a generalization of Hamiltonian systems [3] They can represent not only ordinary mechanical, electrical and electro-mechanical systems, but also nonholonomic systems [4]. The special structure of physical systems allows us to utilize the passivity which they innately possess and a lot of fruitful results were obtained so far. These methods are so called passivity based control [8]. [ABSTRACT FROM AUTHOR]