Abstract
We are concerned with finding conditions on the controlled behavior of interacting physical systems (e.g., robots and the objects they manipulate) that can guarantee the stability of the interconnection. While I/O (input/output) theory is a common method of analyzing the BIBO (bounded-input/bounded-output) stability of non-linear systems, in this paper we show that standard I/O theory cannot be applied to general interacting physical systems because it is based on a non-general assumption of nodic behavior. In this paper the non-nodic behavior of general physical systems and the constraints it places on the topology of a network of interconnected systems are described. The applicability of an extension of I/O theory to analyze the stability of general (non-nodic) interconnected physical systems is demonstrated.
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