Trajectory tracking of a class of port Hamiltonian systems using Timed IDA-PBC technique

In the line of presenting a tracker design in port-Hamiltonian systems, a timed version of Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) technique, hereafter called Timed IDA-PBC, is introduced. One of the advantages of the proposed method is its ability to utilize the stabilization results for the purpose of tracking. For many systems, when the stabilization problem is solved via the common IDA-PBC method, using some simple modifications on the closed-loop Hamiltonian function, the tracking problem can also be solved through the Timed IDA-PBC technique.