In this paper, we present a method to robustify asymptotically stable nonlinear systems by
adding an integral action that rejects unknown additive disturbances. The proposed …

In this paper we present the design of a robust controller for nonholonomic differential
wheeled mobile robot moving on the plane and subject to constant unknown disturbances …

This paper presents a novel energy shaping-based integral action for mechanical systems
with unknown dissipative forces and matched disturbances. The proposed approach builds …

In this paper the application of PID control to passive systems via passive interconnection is
explored. The stability properties of PID control applied to linear systems is well understood …

The Controlled Lagrangian method is a branch of energy shaping methods that is designed
to control underactuated mechanical systems. The method employs the mechanical energy …

The port-Hamiltonian framework, which is utilised for both system modelling and control
design, emphasises the role of physical energy, component interconnections and …