Energy-Based Control Approaches for Weakly Coupled Electromechanical Systems

This paper addresses the regulation and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then, we employ Lyapunov theory and the notion of contractive systems to develop control approaches in the port-Hamiltonian framework. Remarkably, these control methods eliminate the need for solving partial differential equations or implementing any change of coordinates and are endowed with a physical interpretation. We also investigate the effect of coupled damping on the transient performance and convergence rate of the closed-loop system. Finally, the applicability of the proposed approaches is illustrated in two applications of electromechanical systems via simulations.