Abstract Variable Impedance Actuators (VIA) have received increasing attention in recent
years as many novel applications involving interactions with an unknown and dynamic …

We discuss the modelling framework of port-Hamiltonian descriptor systems and their use in
numerical simulation and control. The structure is ideal for automated network-based …

In this chapter we present a state space interpretation of the small gain and passivity
approach of the previous chapter. Moreover, we will come to some kind of synthesis …

Port-Hamiltonian (PH) theory is a novel, but well established modeling framework for
nonlinear physical systems. Due to the emphasis on the physical structure and modular …

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Since their introduction in the early years of this century, variable stiffness actuators (VSA)
witnessed a sustained growth of interest in the research community, as shown by the …

In this chapter we present an overview of the field of telerobotics with a focus on control
aspects. To acknowledge some of the earliest contributions and motivations the field has …

Explore the foundational and advanced subjects associated with proportional-integral-
derivative controllers from leading authors in the field In PID Passivity-Based Control of …

This book presents state-of-the-art of research results related to the science, technology, and
engineering of cyber-physical systems (CPS), including system architecture, development …

In this paper we present a unifying geometric and compositional framework for modeling
complex physical network dynamics as port-Hamiltonian systems on open graphs. The basic …