Disturbance rejection with LTI internal models for passive nonlinear systems

Bayu Jayawardhana*, George Weiss

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


First, the internal model principle is applied for plants that are passive nonlinear systems, to solve a disturbance rejection problem (without reference signal), where the exogeneous signal is a finite superposition of sine waves of arbitrary known frequencies. The proposed controller assures that both the state of the plant and the error signal converge to zero. Based on the above result, we solve the tracking and disturbance rejection problem for a class of fully actuated passive mechanical systems. Here, we combine our first result with the ideas behind the Slotine-Li controller.We assume that the reference signal r and its first two derivatives are available to the controller. The internal model-based compensator that we propose causes the tracking error to converge to zero.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)008045108X, 9780080451084
StatePublished - 2005
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


  • Disturbance rejection
  • Mechanical manipulators
  • Passive
  • Regulators
  • Robotic manipulators
  • Servomechanisms
  • Tracking systems


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