In this chapter, which is a distilled version of , we present a novel way to approach the interconnection of a continuous and a discrete time physical system firstly presented in [270, 268, 257]. This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master-slave system on a digital transmission line with varying time delays and possible loss of packets (e.g. the Internet), and in the field of haptics, where the virtual environment should ‘feel’ like a physical equivalent system.
|Title of host publication||Multi-point interaction with real and virual objects|
|Editors||F. Barbagli, D. Prattichizzo, K. Salisbury|
|Place of Publication||Berlin|
|Number of pages||15|
|Publication status||Published - Jul 2005|
Stramigioli, S. (2005). Intrinsically passive control using sampled data system passivity. In F. Barbagli, D. Prattichizzo, & K. Salisbury (Eds.), Multi-point interaction with real and virual objects (pp. 215-229). (18). Berlin: Springer. https://doi.org/10.1007/11429555_14