Control of the TORA System through the IDA-PBC without Explicit Solution of Matching Equations

This paper presents the control of a translational oscillator with a rotational actuator (TORA) system, in full gravity, through the interconnection and damping assignment passivity-based control (IDA-PBC). The sought goal is to control the underactuated TORA system while reducing the complexity in solving the partial differential equations coming out from the so-called matching equations, which arise from the IDA-PBC. The performance of the designed controller is illustrated through numerical simulations.