IDA-PBC under sampling for port-controlled hamiltonian systems

Taking in mind that the lost of the passivity property under sampling reflects into the degradation of the stabilizing performances of emulated controllers, this paper is a first attempt to the sampled-data version of the interconnection and damping assignment-passivity based controllers (IDA-PBC). A sampled-data controller, preserving asymptotically the energetic behavior of a target dynamics and achieving stabilization to a suitable equilibrium is described for Hamiltonian dynamics. A mechanical case study illustrates the results in a comparative perspective.