AI 中文总结
该研究介绍基于无源性的控制（PBC）框架，其通过确保闭环系统能量在期望点最小、迫使其耗散能量至该点的两步策略，实现对含高度非线性行为的物理系统等的有效控制。
AI 中文摘要
基于无源性的控制（PBC）框架聚焦于理解和修改待控制系统的能量存储与耗散。为此，PBC技术通常分两步进行：（i）确保闭环系统的能量在期望点处最小，（ii）迫使系统耗散能量直至到达该点。这些控制方法已被证明对控制广泛的系统（尤其是具有高度非线性行为的物理系统）有效。本章讨论了针对非线性系统的部分PBC策略的主要方面。
英文摘要
The passivity-based control (PBC) framework focuses on understanding and modifying the energy storage and dissipation in the system to be controlled. To this end, PBC techniques often proceed in two steps: (i) ensuring that the closed-loop system's energy is minimum at the desired point, and then (ii) forcing the system to dissipate energy until reaching that point. These control methods have proven effective in controlling a wide range of systems, especially physical ones, even when they exhibit highly nonlinear behaviors. This chapter discusses the main aspects of some PBC strategies for nonlinear systems.
Comments23 Pages, 2 figures
Journal refChapter in Encyclopedia of Systems and Control Engineering, Volume 2, 2026
DOI：10.1016/B978-0-443-14081-5.00140-9
