On the generalized PI control of some nonlinear mechanical systems

We present a generalized proportional-integral (GPI) control approach for the regulation, and trajectory tracking, problems defined on several nonlinear mechanical systems of the manipulator type. In all cases, the feedback control law can be realized by measuring only a link position. No asymptotic observers, nor time discretizations, are therefore needed in the feedback loop for the estimation of angular, or translational, velocities commonly required in the traditional state-based feedback controllers for such systems.