Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances

This work investigates the energy shaping control of a class underactuated mechanical systems with first-order actuator dynamics and subject to both matched unmatched constant additive disturbances. To this end, new nonlinear law which includes two independent integral actions is presented. The controller design outlined for dynamics, also direct actuation. effectiveness proposed approach demonstrated numerical simulations on an inertia wheel pendulum ball-on-beam system, actuated by electric DC motors