Résumé
Interconnection and Damping AssignmentPassivity Based Control (IDA-PBC) is a popular controlscheme, for the stabilization of underactuated mechanicalsystems, formulated in Port-Controlled Hamiltonian(PCH) structure. However, robustness enhancement of thiscontrol approach towards external disturbances remainsan challenging and an open problem. In this paper, anexperimental comparative study between two different IDAPBCapproaches is proposed. The first controller is anonlinear Proportional Integral IDA-PBC, while the secondone is a model reference adaptive IDA-PBC. To evaluate theeffectiveness of both controllers, various real-time experimentalscenarios have been conducted for the stabilizationof the inertia wheel inverted pendulum. For the sake of afair comparison, different performance-evaluation criteriahave been proposed to quantify the control performance interms of convergence and energy consumption. The resultsshow a better performance of the nonlinear ProportionalIntegral IDA-PBC controller compared to the model referenceadaptive IDA-PBC controller.