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Passivity of systems comprising a continuous time plant and discrete time controller is considered. This topic is motivated by stability considerations arising in the control of robots and force-reflecting human interfaces (“haptic interfaces”). Necessary conditions for passivity are found via a small gain condition, and sufficient conditions are found via an application of Parseval's theorem and a sequence of frequency domain manipulations. An example—implementation of a “virtual wall” via a one degree-of-freedom haptic interface—is given and discussed in some detail. © 1997 John Wiley & Sons, Inc.
Colgate et al. (Wed,) studied this question.