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。
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