Passivity analysis of discrete-time inverse optimal control for trajectory tracking

This paper presents passivity properties analysis of discrete-time inverse optimal control for trajectory tracking of nonlinear systems; it extends previous results for stabilization. It is assumed that the nonlinear system can be transformed to the so-called Nonlinear Block Controllable (NBC) form. The analysis is done by means of a storage function and a supply rate, in order to determine that the closed-loop of the nonlinear system and the inverse optimal controller is passive. An example, based on induction motors, is included to illustrate the applicability of the obtained results.