Passivity-based Controllers for a class of hybrid systems with applications to mechanical systems Interacting with their environment

Motivated by applications of systems interacting with their environments, we study the design of passivitybased controllers for a class of hybrid systems. Classical and hybrid-specific notions of passivity along with detectability and solution conditions are linked to asymptotic stability. These results are used to design passivity-based controllers following classical passivity theory. An application, pertaining to a point mass physically interacting with the environment, illustrates the definitions and the results obtained throughout this work