Passivity Of a Class of Sampled-Data Systems: Application to Haptic Interfaces
Colgate, J. Edward and Schenkel, Gerd
ACC 1994
Passivity of systems comprising a continuous time plant and discrete time controller is considered.  This topic is motivated by stability considerations arising in the control of robots and force-reflecting human interfaces ("haptic interfaces").  A necessary and sufficient condition for the passivity of a class of sampled-data systems is derived.  An example - implementation of a "virtual wall" via a one degree-of-freedom haptic interface - is presented.