On the Performance of Passivity-Based Controllers for Standard Mechanical Systems

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This extended abstract describes methodologies to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we provide tuning rules to ensure the desired stability margin, the upper bound on the rate of convergence, and the upper bound on the maximum permissible overshoot of the closed-loop. We conclude this extended abstract with experimental results that illustrate the applicability of the tuning rules in underactuated mechanical systems.
Original languageEnglish
Title of host publicationProceedings of the European Control Conference 2022 (ECC 2022)
Publication statusE-pub ahead of print - 2022
Event2022 European Control Conference, ECC 2022 - London, United Kingdom
Duration: 12-Jul-202215-Jul-2022


Conference2022 European Control Conference, ECC 2022
Country/TerritoryUnited Kingdom


  • Mechatronics, Lyapunov methods, Nonlinear system theory

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