Based on passivity of inverter, we can redistribute the system energy, and adopt the approaches of injecting damping and decoupling to optimize passivity-based controller.
基于逆变器的无源性，控制能量在逆变器中的重新分布，并采用注入阻尼和系统解耦的方法对控制器进行了优化设计。
Wave variable method based on passivity can ensure teleoperation stability with arbitrary time delays and has become an important method for teleoperation system controller design.
基于无源性理论的波变量法可以保证遥操作系统在任意时延下稳定，已成为 遥操作控制系统设计的一个重要方法。
Wave variable method based on passivity can ensure teleoperation stability with arbitrary time delays and has become an important method for teleoperation system controller design.
基于无源性理论的波变量法可以保证遥操作系统在任意时延下稳定，已成为 遥操作控制系统设计的一个重要方法。
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