Neural passivity control of nonlinear multivariable systems

In this paper we discuss the passive equivalence of uncertain multi-input multi-output (MIMO) nonlinear systems via neural networks. The main contribution of this paper is that the passivity technique is extended to a more general case, i.e., uncertain MIMO nonlinear system. After the determinate multivariable passivity control is extend to robust multivariable passivity, a neuro passivity control is used to compensate the uncertain. A benchmark hydraulic two-tanks system is implemented to show the effectiveness of the approach.