  This paper provides a constructive passivity-based control approach to solve
the set-point regulation problem for input-affine continuous nonlinear systems
while considering saturation in the inputs. As customarily in passivity-based
control, the methodology consists of two steps: energy shaping and damping
injection. In terms of applicability, the proposed controllers have two
advantages concerning other passivity-based control techniques: (i) the energy
shaping is carried out without solving partial differential equations, and (ii)
the damping injection is performed without measuring the passive output. The
proposed methodology is suitable to control a broad range of physical systems,
e.g., mechanical, electrical, and electro-mechanical systems. We illustrate the
applicability of the technique by designing controllers for systems in
different physical domains, where we validate the analytical results via
simulations and experiments.

Systems and Control;Systems and Control