Recent Results on Control of Mechanical Systems

In this talk we present some new results on nonlinear control of mechanical systems recently reported in the literature. These results include the following. 1. Robustness to External Disturbances, (A. Donaire, J. Romero, R. Ortega and B. Siciliano, Systems and Control Letters’13, Int. J. on Robust and Nonlinear Control’17) 2. Robust Globally Convergent Adaptive Speed Observers, (J. Romero and R. Ortega, Automatica’15) 3. PID-PBC of Mechanical Systems, (J. Romero, A. Donaire and R. Ortega, Automatica, (to appear))