| Introduction | p. 1 |
| Dissipativity and Passivity | p. 5 |
| Concept of Passive Systems | p. 5 |
| Properties of Passive Systems | p. 11 |
| Stability of Passive Systems | p. 11 |
| Kalman-Yacubovich-Popov Property | p. 12 |
| Input-Output Property | p. 14 |
| Phase-related Properties | p. 17 |
| Interconnection of Passive Systems | p. 21 |
| Passivity Indices | p. 24 |
| Excess and Shortage of Passivity | p. 24 |
| Passivity Indices for Linear Systems | p. 28 |
| Passivation | p. 29 |
| Input Feedforward Passivation | p. 29 |
| Output Feedback Passivation | p. 30 |
| Passivity Theorem | p. 32 |
| Heat Exchanger Example | p. 36 |
| Summary | p. 41 |
| Passivity-based Robust Control | p. 43 |
| Introduction | p. 43 |
| Uncertainties | p. 44 |
| Robust Stability | p. 46 |
| Characterization of Uncertainties | p. 47 |
| Uncertainty Bound Based on IFP | p. 47 |
| Uncertainty Bounds Based on Simultaneous IFP and OFP | p. 51 |
| Passivity-based Robust Control Framework | p. 56 |
| Robust Stability Condition | p. 56 |
| Robust Stability and Nominal Performance | p. 57 |
| Advantages and Limitations of Passivity-based Robust Control | p. 59 |
| Robust Control Design | p. 59 |
| Example of CSTR Control | p. 65 |
| Combining Passivity with the Small Gain Condition | p. 69 |
| Robust Stability Condition Based on Passivity and Gain | p. 70 |
| Control Synthesis | p. 73 |
| Robust Control of a Mixing System | p. 77 |
| Passive Controller Design | p. 80 |
| Problem Formulation | p. 83 |
| Contraction Map | p. 84 |
| Synthesis of SPR/H[infinity] Control | p. 84 |
| Control Design Procedure | p. 85 |
| Illustrative Example | p. 86 |
| Summary | p. 87 |
| Passivity-based Decentralized Control | p. 89 |
| Introduction | p. 89 |
| Decentralized Integral Controllability | p. 91 |
| Passivity-based DIC Condition | p. 93 |
| Computational Methods | p. 94 |
| DIC Analysis for Nonlinear Processes | p. 97 |
| DIC for Nonlinear Systems | p. 97 |
| Sufficient DIC Condition for Nonlinear Processes | p. 98 |
| Computational Method for Nonlinear DIC Analysis | p. 100 |
| Nonlinear DIC Analysis for a Dual Tank System | p. 101 |
| Block Decentralized Integral Controllability | p. 103 |
| Conditions for BDIC | p. 105 |
| Pairing Based on BDIC | p. 107 |
| BDIC Analysis of the SPF Process | p. 108 |
| Dynamic Interaction Measure | p. 110 |
| Representing Dynamic Interactions | p. 110 |
| Passivity-based Interaction Measure | p. 112 |
| Examples | p. 117 |
| Decentralized Control Based on Passivity | p. 120 |
| Problem Formulation | p. 120 |
| Decentralized Control of Boiler Furnace | p. 121 |
| Summary | p. 122 |
| Passivity-based Fault-tolerant Control | p. 125 |
| Introduction | p. 125 |
| Representation of Sensor/Actuator Faults | p. 126 |
| Decentralized Unconditional Stability Condition | p. 128 |
| Passivity-based DUS Condition | p. 128 |
| Diagonal Scaling | p. 130 |
| Achievable Control Performance | p. 131 |
| Pairing for Dynamic Performance | p. 132 |
| Fault-tolerant Control Design for Stable Processes | p. 135 |
| Fault-tolerant PI Control | p. 135 |
| Decentralized Fault-tolerant H[subscript 2] Control Design | p. 139 |
| Selecting the Weighting Function w(s) | p. 140 |
| Control Synthesis | p. 141 |
| Illustrative Example | p. 146 |
| Fault-tolerant Control Design for Unstable Processes | p. 149 |
| Static Output Feedback Stabilization | p. 150 |
| Fault-tolerant Control Synthesis | p. 152 |
| Illustrative Example | p. 153 |
| Hybrid Active-Passive Fault-tolerant Control Approach | p. 156 |
| Failure Mode and Effects Analysis | p. 156 |
| Fault Detection and Accommodation | p. 157 |
| Control Framework | p. 159 |
| Summary | p. 160 |
| Process Controllability Analysis Based on Passivity | p. 161 |
| Introduction | p. 161 |
| Analysis Based on Extended Internal Model Control | p. 163 |
| Extended Internal Model Control Framework | p. 163 |
| Controllability Analysis for Stable Linear Processes | p. 166 |
| Regions of Steady-state Attainability | p. 171 |
| Steady-state Region of Attraction | p. 172 |
| Steady-state Output Space Achievable via Linear Feedback Control | p. 178 |
| Steady-state Attainability by Nonlinear Control | p. 181 |
| Numerical Procedure | p. 184 |
| Case Study of a High-purity Distillation Column | p. 185 |
| Dynamic Controllability Analysis for Nonlinear Processes | p. 187 |
| Summary and Discussion | p. 191 |
| Process Control Based on Physically Inherent Passivity | p. 193 |
| Thermodynamic Variables and the Laws of Thermodynamics | p. 194 |
| Extensive Variables, Entropy, Intensive Variables | p. 194 |
| Laws of Thermodynamics | p. 197 |
| Nonequilibrium Thermodynamics | p. 198 |
| The Structure of State Equations of Process Systems | p. 199 |
| State Variables and Order of Systems | p. 200 |
| Conservation Balances and Mechanisms | p. 201 |
| Constitutive Equations | p. 202 |
| State Equations of Process Systems | p. 203 |
| Implications in Process Control | p. 204 |
| Heat Exchanger Example | p. 205 |
| Physically Motivated Supply Rates and Storage Functions | p. 207 |
| Entropy-based Storage Functions | p. 207 |
| Possible Choices of Inputs and Outputs | p. 210 |
| Storage Function of the Heat Exchanger Example | p. 210 |
| Hamiltonian Process Models | p. 212 |
| System Structure and Variables | p. 212 |
| Generalized Hamiltonian Systems | p. 213 |
| Generalized Hamiltonian Systems with Dissipation | p. 214 |
| Hamiltonian Description of the Heat Exchanger Example | p. 215 |
| Case Study: Reaction Kinetic Systems | p. 216 |
| System Description, Thermodynamic Variables and State-space Model | p. 217 |
| The Reaction Simplex and the Structure of Equilibrium Points | p. 217 |
| Physically Motivated Storage Function | p. 218 |
| Passive Input-output Structure | p. 219 |
| Local Hamiltonian Description of Reversible Reaction Networks | p. 221 |
| Summary | p. 224 |
| Detailed Control Design Algorithms | p. 225 |
| Solution to the BMI Problem in SPR/H[infinity] Control Design | p. 225 |
| DUS H[subscript 2] Control Synthesis | p. 226 |
| Final LMI | p. 226 |
| SSDP Procedure | p. 228 |
| Mathematical Proofs | p. 231 |
| Phase Condition for MIMO Systems | p. 231 |
| Proof of Theorem 4.4 | p. 232 |
| Proof of Theorem 4.8 | p. 235 |
| Region of Steady-state Attainability | p. 237 |
| Nominal Stability of Nonlinear IMC | p. 237 |
| Proof of Theorem 6.6 | p. 239 |
| Positive Invariance of Region of Attraction | p. 240 |
| Proof of Theorem 6.10 | p. 240 |
| References | p. 243 |
| Index | p. 251 |
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