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This manuscript introduces a passivity-based integral control approach forfully-actuated mechanical systems. The novelty of our methodology is that weexploit the gyroscopic forces of the mechanical systems to exponentiallystabilize the mechanical system at the desired equilibrium even in the presenceof matched disturbances; additionally, we show that our approach is robustagainst unmatched disturbances. Furthermore, we provide tuning rules toprescribe the performance of the closed-loop system. We conclude thismanuscript with experimental results obtained from a robotic arm.

Tuning rules for passivity-based integral control for a class of mechanical systems