Static output feedback passivation of a SISO system characterized by state matrices

Necessary and sufficient conditions for the existence of a static feedback controller for a LTI single-input single-output system, which renders the system passive, are derived. The novelty is that these conditions are expressed in terms of the state space matrices of the open loop system. The derived conditions pertain to all possible cases: proper transfer functions, strictly proper transfer functions, state matrix A invertible or singular.