Bounded inputs total energy shaping for a class of underactuated mechanical systems

Designing control systems with bounded input is a practical consideration since realizable physical are limited by the saturation of actuators. The actuators' degrades performance system, and in extreme cases, stability closed-loop system may be lost. However, actuator's typically neglected design systems, compensation being made form overdesigning actuator or postanalyzing resulting to ensure acceptable performance. fully actuated mechanical has been investigated multiple studies, but it not generalized for underactuated systems. This article proposes systematic framework finding upper bound effort based on interconnection damping assignment passivity approach. proposed method also offers variables law tuned, considering limit. primary difficulty bounds velocity-dependent kinetic energy-related terms. Thus, velocity computed using suitable Lyapunov candidate as function parameters. validity application detail through two benchmark simulations.