Nonlinear control of a generalized model for electromechanical systems

In this paper the position regulation control problem of electromechanical systems is solved. The model considered to this end is called general in the sense that it includes the effect of both inductances and capacitances in the production of mechanical force, i.e. it is considered that this force is produced by storing both magnetic and electric energies. The proposed controller belongs to the energy shaping plus damping injection class and is an extension of the one presented in [1] in the sense that the main drawback of this controller, the existence of a steady state error, is overcome in this paper by the addition of an integral term on the position error, achieving zero steady state error independently of the knowledge on the initial conditions of the system.