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To extend the realm of application of the well known controller designtechnique of interconnection and damping assignment passivity-based control(IDA-PBC) of mechanical systems two modifications to the standard method arepresented in this article. First, similarly to [1], it is proposed to avoid thesplitting of the control action into energy-shaping and damping injectionterms, but instead to carry them out simultaneously. Second, motivated by [2],we propose to consider the inclusion of generalised forces, going beyond thegyroscopic ones used in standard IDA-PBC. It is shown that several newcontrollers for mechanical systems designed invoking other (less systematicprocedures) that do not satisfy the conditions of standard IDA-PBC, actuallybelong to this new class of SIDA-PBC.

Simultaneous Interconnection and Damping Assignment Passivity-based Control of Mechanical Systems Using Generalized Forces