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Summary: Passivity-Based Control Design for Cyber-Physical
Systems
Xenofon Koutsoukos, Nicholas Kottenstette, Joe Hall, Panos Antsaklis, Janos Sztipanovits
ISIS/Vanderbilt University University of Notre Dame
Abstract--Real-life Cyber-Physical Systems (CPSs), such as
automotive vehicles, building automation systems, and groups
of unmanned air vehicles are monitored and controlled by
networked control systems. The overall system dynamics emerges
from the interaction among physical dynamics, computational
dynamics, and communication networks. Network uncertainties
such as time-varying delay and packet loss cause significant
challenges that probihit the application of traditional component-
based design methods. This paper proposes a passive control
architecture for designing CPSs that are insensitive to net-
work uncertainties. The proposed method improves orthogonality
across the controller design and implementation design layers
with respect to network uncertainties, thus empowering model-
driven development. The paper presents the architecture for a
simplified system consisting of a robotic manipulator controlled
by a digital controller over a wireless network and simulation
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