Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances.

This work investigates the energy shaping control of a class of underactuated mechanical systems with first‐order actuator dynamics and subject to both matched and unmatched constant additive disturbances. To this end, a new nonlinear control law which includes two independent integral actions is presented. The controller design is outlined for systems with first‐order actuator dynamics, and also for systems with direct actuation. The effectiveness of the proposed approach is demonstrated with numerical simulations on an inertia wheel pendulum and on a ball‐on‐beam system, both actuated by electric DC motors and subject to constant disturbances. [ABSTRACT FROM AUTHOR]