抄録
The energy modification method has been attracting a lot of attention as a new control design of mechanical systems. In this paper, we show an approach to give control performance specifications to controller derived by Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) method. The closed loop system by such controller has mechanical properties. To evaluate the performance, we construct cost function by using the modal vector of the linearized closed loop system around equilibrium point. Simulation results and numerical analysis show the effectiveness of our approach.
