Abstract
In this chapter, input-output stability analysis tools and output-feedback networked control design are investigated for linear and nonlinear dynamic systems. Specifically, the chapter focuses upon two classes of passivity-short systems: input feedforward passive systems and output feedback passive systems. It is shown that, under an individual output feedback control, these classes of passivity-short systems have such desired properties as Lyapunov stability, asymptotic stability and L2 stability. Furthermore, it is shown that the property of input feedforward passivity is invariant under all possible interconnections: parallel, serial, positive feedback loop, and negative feedback loop. In addition, cooperative control of these systems naturally leads to output consensus, and cooperative control design can be designed separately from the designs of their individual feedback controls. Accordingly, a networked operation of nonlinear dynamical systems can be accomplished by making individual systems passivity-short (since most systems can never be passive), and the design separation ensures that networked operation of nonlinear dynamic systems becomes plug-and-play.
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