Energy-Based Tracking Methods for Classes of Electromechanical Systems

This extended abstract suggests control approaches for the trajectory-tracking problem in two classes of weakly coupled electromechanical systems. To this end, we formulate these systems within the port-Hamiltonian framework. Then, the notion of a contractive port-Hamiltonian system is used to develop tracking control approaches. These methods, derived from the Interconnection and Damping Assignment Passivity Based Control approach, eliminate the need to solve partial differential equations and use coordinate transformations. We also investigate the effect of coupled damping on the transient performance of the closed-loop system. The applicability of the proposed approaches is shown through simulations in two electromechanical applications.