This monograph deals with energy based control of interactive robotic interfaces. The port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. The book provides an energy oriented analysis and control synthesis of interactive robotic interfaces, from a single robot to multi-robot systems for interacting with real and virtual, possibly unstructured, environments.

Safety in industrial process and production plants is a concern of rising importance, especially if people would be endangered by a catastrophic system failure. On the other hand, because the control devices which are now exploited to improve the overall performance of industrial processes include both sophisticated digital system design techniques and complex hardware (input-output sensors, actuators, components and processing units), there is an increased probability of failure. As a direct consequence of this, control systems must include automatic supervision of closed-loop operation...