Asymptotic stabilization of Hamiltonian systems based on La Salle's invariance principle

IDA (interconnection and damping assignment) method is proposed in order to stabilize PCH (port controlled hamiltonian) systems. Based on La Salle's invariance principle, we derive sufficient conditions to use IDA method for global asymptotic stabilization. A numerical example for a rigid body space robot model was shown, and a closed loop system containing free parameters was designed. Furthermore, we extract free parameters that do not influence these conditions. These parameters can adjust the control inputs and the convergence rate of the states.