A Generalization of the Passivity Theorem and the Small Gain Theorem Based on $\rho$-Stability, with Application to a Parameter Adaptation Algorithm for Recursive Identification

Abstract

The usual passivity theorem considers a closed-loop, the direct chain of which consists of a strictly passive stable operator $H_1$, and the feedback chain of which consists of a passive operator $H_2$. Then the closed-loop is stable. Let $\rho >1$. We show here that the closed-loop is still stable when the direct chain consists of a strictly ${\rho }^{-1}$-passive -stable operator (a weaker condition than above) and the feedback chain consists of a $\rho$-passive operator (a stronger condition than above). Variations on the theme of the small gain theorem (incremental or not) can be made similarly. This approach explains the results obtained in a paper on identification which was recently published.