Tuning Rules for Passivity-Based Integral Control for a Class of Mechanical Systems

This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces systems to exponentially stabilize system at desired equilibrium even in presence matched disturbances; additionally, show robust against unmatched disturbances. Furthermore, provide tuning rules prescribe performance closed-loop system. We conclude this with experimental results obtained from robotic arm.