Output feedback global regulation for nonlinear benchmark system with input constrains using hybrid dynamic impulse controller

For benchmark translational oscillator with rotational actuator system, an output feedback hybrid dynamical impulse global regulator with bounded inputs was presented which was based on energy shaping plus damping injection methodology of Euler-Lagrangian system and recent result on invariant set stability theorems for nonlinear impulse hybrid systems. And from the perspective of energy dissipation, the effectiveness of the proposed regulator was studied. Experiment results for the benchmark system show that system performance under the proposed strategy is better than classical continuous passivity based controller given by Ortega et al.