A novel theory for sampled data system passivity

Stefano Stramigioli, C Secchi, Arjan van der Schaft, C. Fantuzzi

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    Abstract

    This paper presents a novel approach to the interconnection of a continuous time and a discrete time physical system. This is done in a way which preserves the passivity of the coupled system independently of the sampling time. A direct application in the field of haptic displays, where a virtual environment should feel like equivalent physical systems.
    Original languageUndefined
    Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherIEEE
    Pages1936-1941
    Number of pages6
    ISBN (Print)0-7803-7398-7
    DOIs
    Publication statusPublished - Oct 2002
    Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2002 - Swiss Federal Institute of Technology, Lausanne, Switzerland
    Duration: 30 Sept 20024 Oct 2002
    http://www.iros02.ethz.ch/

    Conference

    Conference2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2002
    Abbreviated titleIROS
    Country/TerritorySwitzerland
    CityLausanne
    Period30/09/024/10/02
    Internet address

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