ORCID
- Pablo Borja: 0000-0001-7744-0846
Abstract
Control by Interconnection (CbI) and Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) are two nonlinear design methodologies that exploit passivity to construct stabilising controllers. While CbI is known to be a subset of IDA-PBC, the converse link has remained open. This paper revisits CbI by utilising dynamic invariants beyond Casimirs and a more general control structure. Using this more general structure we show a one-to-one correspondence between IDA-PBC and CbI controllers for the class of mechanical systems without friction.
DOI Link
Publication Date
2026-02-04
Publication Title
IEEE Transactions on Automatic Control
ISSN
0018-9286
Acceptance Date
2026-01-23
Deposit Date
2026-02-26
Additional Links
Keywords
Nonlinear control systems, nonlinear systems, output feedback
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.
First Page
1
Last Page
8
Recommended Citation
Ferguson, J., & Borja, P. (2026) 'Control-By-Interconnection Beyond Casimirs and Connections to IDA-PBC', IEEE Transactions on Automatic Control, , pp. 1-8. Available at: 10.1109/TAC.2026.3661486
