| Resumen |
A solution to the stabilization problem of a compact set by means of the Interconnection and Damping Assignment Passivity-Based Control methodology, for an affine nonlinear system, was introduced. To this end, we expressed the closed-loop system as a Port Hamiltonian system, having the property of almost all their trajectories asymptotically converge to a convenient limit set, except for a set of measure zero. It was carried out by solving a partial differential equation (PDE) or single matching condition, which allows the desired energy level or limit set E to be shaped explicitly. The control strategy was tested using the magnetic beam balance system and the pendulum actuated by a direct current motor (DC-motor), having obtained satisfactory results. |
