Intrinsically passive control using sampled data system passivity

In this chapter, which is a distilled version of [271], 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.