A Class of Standard Mechanical System with Force Feedback in the port-Hamiltonian Framework

In this paper we show force feedback and position control of a class of standard mechanical system in the port-Hamiltonian framework. Furthermore, we show how to derive an extended port-Hamiltonian system with structure preservation which can be used for force feedback purposes besides providing the closed-loop system asymptotically stable. We also show the usefulness of the extended port-Hamiltonian system by showing its disturbance attenuation properties. Finally, we present simulation results obtained for the proposed control laws.