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In this paper we present a method for the addition of integral action tonon-passive outputs of a class of port-Hamiltonian systems. The proposedintegral controller is a dynamic extension, constructed from the open loopsystem, such that the closed loop preserves the port-Hamiltonian form. It isshown that the controller is able to reject the effects of both matched andunmatched disturbances, preserving the regulation of the non-passive outputs.Previous solutions to this problem have relied on a change of coordinateswhereas the presented solution is developed using the original state vectorand, therefore, retains its physical interpretation. In addition, the resultingclosed loop dynamics have a natural interpretation as a Control byInterconnection scheme.

Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation