Output-feedback global stabilization of a nonlinear benchmark system using a saturated passivity-based controller

We address the problem of regulation of a rotational/translational proof mass actuator using a passivity-based controller. We show that the output feedback saturated input controller proposed by the authors in a previous paper provides a simple and robust solution to the global asymptotic stabilization problem. The design technique is based on the practically appealing principles of energy shaping and damping injection