Passivity of nonlinear systems with input-output feedthrough (Q1361335)

The paper deals with systems of the form \(\dot x=f(x,u)\), \(y=h(x,u)\) with \(x\in \mathbb{R}^n\), \(u,y\in \mathbb{R}^m\); \(f\) and \(h\) sufficiently smooth. Assuming \(f\) and \(h\) are affine in \(u\), the notion of passivity is developed in analogy to the definitions where no input-output feedthrough is present, i.e. \(y=h(x)\). Necessary conditions for passivity and feedback passivability are derived. Also, some global aspects of the problem are identified.