Feedback passivity of nonlinear discrete-time systems with direct input-output link (Q705165)

This paper deals with the passification problem for nonlinear, discrete-time systems of the form \[ x(k+1)= f(x(k), u(k)),\quad y(k)= h(x(k),u(k)), \] where \(f\) and \(h\) are smooth maps vanishing at \(x= u= 0\). The main result asserts that if the relative degree of the system is zero and there exist locally passive zero dynamics with a positive definite storage function of class \(C^2\), then the system can be rendered passive by applying a regular feedback. The case of affine systems is considered with special attention.