A "mixed" small gain and passivity theorem in the frequency domain

We show that the negative feedback interconnection of two causal, stable, linear time-invariant systems, with a “mixed” small gain and passivity property, is guaranteed to be finite-gain stable. This “mixed” small gain and passivity property refers to the characteristic that, at a particular frequency, systems in the feedback interconnection are either both “input and output strictly passive”; or both have “gain less than one”; or are both “input and output strictly passive” and simultaneously both have “gain less than one”. The “mixed” small gain and passivity property is described mathematically using the notion of dissipativity of systems, and finite-gain stability of the interconnection is proven via a stability result for dissipative interconnected systems. © 2007 Elsevier B.V. All rights reserved.