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This paper focus on passivity and passive control for a cascade nonlinear system consisting of two switched systems. The asymptotic stability criterion for the cascade system is developed without requiring passivity of subsystem in the whole state interval. Passivity and stabilisation of the closed-loop system are achieved by co-designing an output feedback control law and a state-dependent switching signal if the full output information is measurable. While the output information of the first switched system are not available, the sampled integral stabilisation (SIS) technique which only adopts the output information and common energy function of the second one, is exploited to achieve passive control of two switched systems connected in a cascade way. Then, a particular case of cascade system where only one passive switched system exists is stabilised via SIS technique. Finally, the validity of the developed results is demonstrated via a plane articulation arm example.

Passivity and passive control for switched nonlinear systems based on multiple storage functions technique