To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the standard method are presented in this article. First, similarly to [1], it is proposed to avoid the splitting of the control action into energy-shaping and damping injection terms, but instead to carry them out simultaneously. Second, motivated by [2], we propose to consider the inclusion of generalised forces, going beyond the gyroscopic ones used in standard IDA-PBC. It is shown that several new controllers for mechanical systems designed invoking other (less systematic procedures) that do not satisfy the conditions of standard IDA-PBC, actually belong to this new class of SIDA-PBC.
@article{arxiv.1506.07679,
title = {Simultaneous Interconnection and Damping Assignment Passivity-based Control of Mechanical Systems Using Generalized Forces},
author = {Alejandro Donaire and Romeo Ortega and Jose Guadalupe Romero},
journal= {arXiv preprint arXiv:1506.07679},
year = {2015}
}