Notch filters for port-Hamiltonian systems

In this paper a standard notch filter is modeled in the port-Hamiltonian framework. By having such a port-Hamiltonian description it is proven that the notch filter is a passive system. The notch filter can then be interconnected with another (nonlinear) port-Hamiltonian system, while preserving the overall passivity property. By doing so we can combine a frequency-based control method, the notch filter, with the nonlinear control methodology of passivity-based control.