Abstract
A class of nonlinear position-dependent circuits is introduced in order to give a physical understanding of nonlinear dynamics of mechanical systems and facilitate the performance analysis of robot controllers such as PD and SP-ID with or without regressors. The robustness of such simple controllers against uncertainty of dynamic parameters is analyzed on the basis of "passivity" of an input-output pair of a circuit, which is considered to be a generalization of impedance concept. It is shown that the passivity implies the H∞-tuning in a sense of disturbance attenuation. In addition, a necessary and sufficient condition for such a nonlinear system to maintain the passivity for all structural disturbances within a given margin is obtained.
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