It is well-known that the widely popular Interconnection and Damping Assignment Passivity-based Control (IDA-PBC) is “universally stabilizing”, in the sense that it generates all asymptotically stabilizing controllers for general nonlinear systems of the form $\dot{x}=f(x,u)$. Unfortunately, the proof of this fact relies in the construction of a control law that is not globally defined. Although a standard regularization procedure may be used to enforce the required smoothness properties to the control signal, this procedure is quite technical and not constructive. To overcome this problem we provide an alternative construction that yields a continuous IDA-PBC law.

众所周知，广为流行的基于无源互连和阻尼分配的控制（IDA-PBC）具有“普遍稳定”的意义，因为它可以生成形式为一般非线性系统的所有渐近稳定控制器$\dot{X}=F（X，ü）$。不幸的是，这一事实的证明依赖于未全局定义的控制法的构建。尽管可以使用标准的正则化过程来对控制信号强制执行所需的平滑度属性，但是此过程非常技术性并且不是建设性的。为了克服这个问题，我们提供了一种替代的构造，该构造产生了连续的IDA-PBC法。