This paper examines how to best be with women during birth, based on a phenomenological description of the birth experience. The first part of the paper establishes birth as an uncanny experience, that is, an experience that is not only entirely unfamiliar, but even unimaginable. The way in which birth happens under unknowable circumstances (in terms of when, how, with whom…) creates a set of a...

This paper presents a framework for control design of general nonlinear switched systems using passivity and two passivity indexes. Background material will be presented on traditional passivity for continuously varying systems, the concept of a passivity index, and passivity theory for switched systems. The passivity index concept will then be generalized to apply to switched systems to measur...

It is an essential step in decomposition algorithms for radical differential ideals to satisfy the so-called Rosenfeld property. Basically all approaches to achieve this step are based on one of two concepts: Coherence or passivity. This paper gives a modern treatment of passivity. The theorem by Li and Wang stating that passivity implies coherence is extended to a broader setting. A new defini...

Euler-Lagrange (EL) model of voltage source PWM rectifier is set up based on its model in synchronous dq coordinates. Passivity based controller is designed on the basis of passivity and EL model of voltage source PWM rectifier. Three switching function are educed by passivity based controller. A switching function is only realized in engineering consequently. Voltage source PWM rectifier using...

This paper proposes general eigenvalue-based passivity tests for descriptor state space systems, extending the already available tests for standard state space systems. Generalized eigenvalue tests are proposed to identify passivity violations in the positive-real and bounded-real cases. The important practical case of singular descriptor state space systems is also treated. The proposed passiv...

Passivity index is defined in terms of an excess or shortage of passivity, and it has been introduced in order to extend the passivity-based stability conditions to the more general cases for both passive and non-passive systems. In this report, we revisit the secant criterion literature results from the perspective of passivity indices. While most of the passivity-based stability results in li...

Recently proposed stable teleoperation control scheme, base on time domain passivity, is modified to remove several conservatisms. During unconstrained motion and contacting with soft and deformable environments, the two-port time domain passivity approach [21] was excessively dissipating energy even though it was stable without any energy dissipation. The main reason of this conservatism is on...

This paper generalizes the Time Domain Passivity Control concept originally introduced by J.-H. Ryu et al. (2004) in order to work for multi-degree of freedom (DoF) haptic systems with time delay. Its energy computation (named passivity observer) factors in the phase shift caused by time delay, and is improved by an energy estimation. Moreover, the variable damping of the passivity controller i...

A negative feedback interconnection consisting of two causal, nonlinear systems is shown to be input–output stablewhen a ‘‘mixed’’ small gain and passivity assumption is placed on each of the systems. The ‘‘mixed’’ small gain and passivity property captures the well-known notions of passivity and small gain associated with systems: the property can be appropriately reduced to an input and outpu...