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In this report, we apply an input-output transformation passivation method,described in our previous works, to an Adaptive Cruise Control system. Weanalyze the system's performance under a co-simulation framework that makes useof an online optimization method called extremum-seeking to achieve theoptimized behavior. The matrix for passivation method encompasses commonly usedmethods of series, feedback and feed-forward interconnections for passivatingthe system. We have previously shown that passivity levels can be guaranteedfor a system using our passivation method. In this work, an extremum-seekingalgorithm was used to determine the passivation parameters. It is known thatsystems with input-output time-delays are not passive. On the other hand,time-delays are unavoidable in automotive systems and commonly emerge insoftware implementations and communication units as well as driver's behavior.We show that by using our passivation method, we can passivate the system andimprove its overall performance. Our simulation examples in CarSim and Simulinkwill show that the passive system has a considerably better performance.

An Extremum-Seeking Co-Simulation Based Framework for Passivation Theory and its Application in Adaptive Cruise Control Systems