Exponentially stable tracking control in terms of Hamiltonian mechanics

This paper deals with the control of electromechanical systems with more degrees of freedom. Dynamics is primarily described by Hamilton's equations. The Hamiltonian formalism leads to different physical descriptive quantities, considered for control design, than much more used Lagrangian formalism. In the paper, as representative control approaches, model-oriented exponentially stable control is considered. This control algorithm is naturally robust and hence may be implemented on technical devices.