Passivity Control in Real-time Hybrid Testing

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)


This paper details the application of passivity control in stabilizing real-time hybrid test (RtHT) systems with linear and nonlinear physical substructures. The effectiveness of this novel application in hybrid systems is assessed in the time and frequency domains with special attention given to improvements in stability and tracking performance. A 1 degree-of-freedom system is chosen as a test case with transfer dynamics modelled as a pure delay. The application of passivity control widely used in the teleoperation industry has been found to stabilize the hybrid test system under a wide range of operating conditions whilst resulting in tracking improvements as well. Unlike conventional model based compensation schemes, the application of passivity control does not require any information about the transfer system and/or physical substructure making this technique practical and effective in compensating complex hybrid tests where accurate linear models are unavailable.
Original languageEnglish
Title of host publication2018 UKACC 12th International Conference on Control (CONTROL)
Number of pages6
ISBN (Electronic)9781538628645
Publication statusPublished - 31 Oct 2018


  • hybrid test
  • passivity
  • substructure
  • transfer system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization

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