This paper presents a novel approach to the interconnection of a continuous time and a discrete time physical system. This is done in a way which preserves the passivity of the coupled system independently of the sampling time. A direct application in the field of haptic displays, where a virtual environment should feel like equivalent physical systems, is presented.
A Novel Theory for Sample Data Systems / Stramigioli, S.; Secchi, Cristian; VAN DER SCHAFT, A. J.; Fantuzzi, Cesare. - ELETTRONICO. - 2:(2002), pp. 1936-1941. (Intervento presentato al convegno 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems tenutosi a Lausanne, che nel 30 Settembre - 5 Ottobre 2002).
A Novel Theory for Sample Data Systems
SECCHI, Cristian;FANTUZZI, Cesare
2002
Abstract
This paper presents a novel approach to the interconnection of a continuous time and a discrete time physical system. This is done in a way which preserves the passivity of the coupled system independently of the sampling time. A direct application in the field of haptic displays, where a virtual environment should feel like equivalent physical systems, is presented.
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