Some applications and extensions of interconnection and damping assignment passivity-based control

Interconnection and Damping Assignment Passivity-based Control is a technique which achieves stabilization of nonlinear systems assigning a desired (port-controlled Hamiltonian) structure to the closed-loop. Since the introduction of this controller design methodology four years ago many theoretical extensions and practical applications have been reported in the literature. The theoretical developments include some useful variations and shortcuts that may be introduced when the technique is applied to particular classes of systems and the incorporation of additional features to handle control scenarios other than just stabilization. The purposes of this paper are to collect and present in a unified way some of the new theoretical results and to discuss the current research and future directions. Copyright (C) 2003 IFAC.