Abstract
This paper presents an end-to-end method to design passivity-based controllers (PBC) for a class of input-affine nonlinear systems, named quasi-linear affine. The approach is developed using Krasovskii’s method to design a Lyapunov function for studying the asymptotic stability, and a sufficient condition to construct a storage function is given, along with a supply-rate function. The linear fractional transformation interconnection between the nonlinear system and the Krasovskii PBC (K-PBC) results in a system which manages to follow the provided input trajectory. However, given that the input and output of the closed-loop system do not have the same physical significance, a path planning is mandatory. For the path planning component, we propose a robust controller designed using the μ-synthesis mixed-sensitivity loop-shaping for the linearized system around a desired equilibrium point. As a case study, we present the proposed methodology for DC-DC converters in a unified manner, giving sufficient conditions for such systems to be Krasovskii passive in terms of Linear Matrix Inequalities (LMIs), along with the possibility to compute both the K-PBC and robust controller alike.