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This is the second of a series of IFAC Workshops initiated in 2000. The first one chaired and organized by Profs. N. Leonard and R. Ortega, was held in Princeto

This monograph deals with energy based control of interactive robotic interfaces. The port-Hamiltonian framework is exploited both for modeling and controlling

Energy exchange is a major foundation of the dynamics of physical systems, and, hence, in the study of complex multi-domain systems, methodologies that explicit

This volume is the outcome of the first CASY workshop on "Advances in Control Theory and Applications" which was held at University of Bologna on May 22-26, 200