Introduction to Passivity-based Control

[2608.15222] Introduction to Passivity-based Control Skip to main content Search Submit Donate Log in Search arXiv Press Enter to search · Advanced search Electrical Engineering and Systems Science > Systems and Control arXiv:2608.15222 (eess) [Submitted on 15 Aug 2026] Title: Introduction to Passivity-based Control Authors: Pablo Borja , Romeo Ortega View a PDF of the paper titled Introduction to Passivity-based Control, by Pablo Borja and 1 other authors View PDF HTML (experimental) Abstract: Passivity-based control (PBC) is a nonlinear control design framework that has proven adequate for controlling a wide range of systems, especially physical ones. Their main ingredients are physical quantities such as energy and dissipation, making the control design more intuitive and endowing the controllers with a physical interpretation. In contrast to other, mathematically-based nonlinear control approaches, the energy-based viewpoint and physical intuition of PBC often make this strategy more robust and energy efficient. This chapter provides an overview of PBC, revisiting the basic aspects of this powerful nonlinear control framework and the most common PBC approaches. Comments: 26 pages, 1 figure Subjects: Systems and Control (eess.SY) Cite as: arXiv:2608.15222 [eess.SY] (or arXiv:2608.15222v1 [eess.SY] for this version) https://doi.org/10.48550/arXiv.2608.15222 Focus to learn more arXiv-issued DOI via DataCite Journal reference: Chapter in Encyclopedia of Systems and Control Engineering, Volume 1, 2026 Related DOI : https://doi.org/10.1016/B978-0-443-14081-5.00031-3 Focus to learn more DOI(s) linking to related resources Submission history From: Luis Pablo Borja Rosales [ view email ] [v1] Sat, 15 Aug 2026 13:18:35 UTC (33 KB) Full-text links: Access Paper: View a PDF of the paper titled Introduction to Passivity-based Control, by Pablo Borja and 1 other authors View PDF HTML (experimental) TeX Source view license Current browse context: eess.SY < prev | next > new | recent | 2026-08 Change to browse by: cs cs.SY eess References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... Data provided by: Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer ( What is the Explorer? ) Connected Papers Toggle Connected Papers ( What is Connected Papers? ) Litmaps Toggle Litmaps ( What is Litmaps? ) scite.ai Toggle scite Smart Citations ( What are Smart Citations? ) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv ( What is alphaXiv? ) Links to Code Toggle CatalyzeX Code Finder for Papers ( What is CatalyzeX? ) DagsHub Toggle DagsHub ( What is DagsHub? ) GotitPub Toggle Gotit.pub ( What is GotitPub? ) Huggingface Toggle Hugging Face ( What is Huggingface? ) ScienceCast Toggle ScienceCast ( What is ScienceCast? ) Demos Demos Replicate Toggle Replicate ( What is Replicate? ) Spaces Toggle Hugging Face Spaces ( What is Spaces? ) Spaces Toggle TXYZ.AI ( What is TXYZ.AI? ) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower ( What are Influence Flowers? ) Core recommender toggle CORE Recommender ( What is CORE? ) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs . Which authors of this paper are endorsers? | Disable MathJax ( What is MathJax? ) We gratefully acknowledge support from our major funders , member institutions , , and all contributors. About · Help · Contact · Subscribe · Copyright · Privacy · Accessibility · Operational Status (opens in new tab) Major funding support from

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