Abstract
In this work, we consider the application of the Interconnection and Damping Assignment (IDA) control methodology, recently proposed in the literature, to the asymptotic position regulation problem of a brushed DC motor driving a mechanical load. To achieve this objective the electromechanical system is firstly transformed into the general port controlled Hamiltonian form and, then, the IDA design procedure is applied to synthesize the stabilizing control law. The Hamiltonian structure of the closed loop system is preserved and the asymptotic stability of the mechanical position is verified by digital simulations.
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