Absolute stability conditions are established for nonlinear NI systems with gradient nonlinear feedback preserving positive definite storage, generalizing prior linear NI results and enabling potential energy shaping.
Systems with counterclockwise input-outp ut dynamics
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Absolute Stability of Nonlinear Negative Imaginary Systems with Application to Potential Energy Shaping
Absolute stability conditions are established for nonlinear NI systems with gradient nonlinear feedback preserving positive definite storage, generalizing prior linear NI results and enabling potential energy shaping.