Fundamentals

In this chapter, the basic theoretical tools used in this monograph are introduced. Firstly, finite-gain stability is explained for an input-output system. Then, the concept of passivity, which is a tool that has been used in this monograph to achieve finite-gain stability of the shared control system, is presented. Widely used passivity tools like electrical and port-network representations and time domain passivity control are explained. Later, the generally used definitions and performance indices of transparency are covered along with a comparison of transparency of common feedback architectures in teleoperation.