Abstract
In this article we propose a general controller structure for asymptotic position regulation of electromechanical systems, derived using the Interconnection and Damping Assignment passivity-based control methodology. The controller is applicable to arbitrary fully actuated electromechanical systems with linear magnetic materials consisting of inductances, permanent magnets, and one mechanical coordinate. Instrumental for our developments is the inclusion of “virtual” couplings between the electrical and the mechanical subsystem, which is naturally suggested in this control methodology.
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