Physical insights on passivity-based TORA control designs

Jankovic et al. (ibid., vol.4, p.292-7, 1996) developed a series of cascadeand passivity-based control designs for the control of a translational oscillation rotational actuation (TORA) benchmark example. Two of the passivity-based control designs have strong mechanical underpinnings. In this brief letter, valuable physical insight into the passivity-based control is demonstrated using a basic theory of vibration analysis.