On the addition of integral action to port-controlled Hamiltonian systems. - Alejandro Donaire; Sergio Junco (Autom., 2009)

Derivation of Input-State-Output Port-Hamiltonian Systems from bond graphs. - Alejandro Donaire; Sergio Junco (Simul. Model. Pract. Theory, 2009)

Energy shaping, interconnection and damping assignment, and integral control in the bond graph domain. - Alejandro Donaire; Sergio Junco (Simul. Model. Pract. Theory, 2009)

Manoeuvring control of fully-actuated marine vehicles. A Port-Hamiltonian system approach to tracking. - Alejandro Donaire; Tristan Perez; Christopher Renton (AuCC, 2011)

A low-complexity flight controller for Unmanned Aircraft Systems with constrained control allocation. - Pierre de Lamberterie; Tristan Perez; Alejandro Donaire (AuCC, 2011)

Robustifying energy shaping control of mechanical systems. - José Guadalupe Romero; Alejandro Donaire; Romeo Ortega (CDC, 2012)

Dynamic positioning of marine craft using a port-Hamiltonian framework. - Alejandro Donaire; Tristan Perez (Autom., 2012)

Regulation and integral control of an underactuated robotic system using IDA-PBC with dynamic extension. - Yik Ren Teo; Alejandro Donaire; Tristan Perez (AIM, 2013)

Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian theory. - Francis Valentinis; Alejandro Donaire; Tristan Perez (AIM, 2013)

Energy-based control of bidirectional vehicle strings. - Steffi Knorn; Alejandro Donaire; Juan C. Agüero; Richard H. Middleton (AuCC, 2013)

Robust energy shaping control of mechanical systems. - José Guadalupe Romero; Alejandro Donaire; Romeo Ortega (Syst. Control. Lett., 2013)

Passivity-based control for multi-vehicle systems subject to string constraints. - Steffi Knorn; Alejandro Donaire; Juan C. Agüero; Richard H. Middleton (Autom., 2014)

Disturbance rejection via control by interconnection of port-Hamiltonian systems. - Joel Ferguson; Richard H. Middleton; Alejandro Donaire (CDC, 2015)

Smooth stabilisation of nonholonomic robots subject to disturbances. - Alejandro Donaire; José Guadalupe Romero; Tristan Perez; Romeo Ortega (ICRA, 2015)

Scalability of bidirectional vehicle strings with static and dynamic measurement errors. - Steffi Knorn; Alejandro Donaire; Juan C. Agüero; Richard H. Middleton (Autom., 2015)

Simultaneous Interconnection and Damping Assignment Passivity-based Control of Mechanical Systems Using Generalized Forces. - Alejandro Donaire; Romeo Ortega; José Guadalupe Romero (CoRR, 2015)

Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances. - Alejandro Donaire; José Guadalupe Romero; Romeo Ortega; Bruno Siciliano (ACC, 2016)

Design, Implementation and Experiments of a Robust Passivity-based Controller for a Rolling-balancing System. - Martín Crespo; Alejandro Donaire; Fabio Ruggiero; Vincenzo Lippiello; Bruno Siciliano (ICINCO (2), 2016)

Passivity-Based Control Design and Experiments for a Rolling-Balancing System. - Alejandro Donaire; Martín Crespo; Fabio Ruggiero; Vincenzo Lippiello; Bruno Siciliano (ICINCO (Selected Papers), 2016)

Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces. - Alejandro Donaire; Romeo Ortega; José Guadalupe Romero (Syst. Control. Lett., 2016)

Shaping the Energy of Mechanical Systems Without Solving Partial Differential Equations. - Alejandro Donaire; Rachit Mehra; Romeo Ortega; Sumeet G. Satpute; José Guadalupe Romero; Faruk Kazi 001; Navdeep M. Singh (IEEE Trans. Autom. Control., 2016)

Energy Shaping of Mechanical Systems via PID Control and Extension to Constant Speed Tracking. - José Guadalupe Romero; Romeo Ortega; Alejandro Donaire (IEEE Trans. Autom. Control., 2016)

On the tuning of nested-structure dynamic-positioning control of a marine craft. - Christina Kazantzidou; Tristan Perez; Alejandro Donaire (ASCC, 2017)

A port-Hamiltonian approach to exponential stabilisation and disturbance rejection of a DC-DC buck converter with a nonlinear load. - Juan Tomassini; Alejandro Donaire; Sergio Junco; Tristan Perez (ASCC, 2017)

Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems. - Joel Ferguson; Alejandro Donaire; Romeo Ortega; Richard H. Middleton (CDC, 2017)

Integral control of port-Hamiltonian systems: non-passive outputs without coordinate transformation. - Joel Ferguson; Alejandro Donaire; Richard H. Middleton (CoRR, 2017)

New results on disturbance rejection for energy-shaping controlled port-Hamiltonian systems. - Joel Ferguson; Alejandro Donaire; Romeo Ortega; Richard H. Middleton (CoRR, 2017)

Intrinsic dynamics and total energy-shaping control of the ballbot system. - Aykut C. Satici; Alejandro Donaire; Bruno Siciliano (Int. J. Control, 2017)

Trajectory tracking passivity-based control for marine vehicles subject to disturbances. - Alejandro Donaire; José Guadalupe Romero; Tristan Perez (J. Frankl. Inst., 2017)

Integral Control of Port-Hamiltonian Systems: Nonpassive Outputs Without Coordinate Transformation. - Joel Ferguson; Alejandro Donaire; Richard H. Middleton (IEEE Trans. Autom. Control., 2017)

Passivity-Based Control for a Rolling-Balancing System: The Nonprehensile Disk-on-Disk. - Alejandro Donaire; Fabio Ruggiero; Luca Rosario Buonocore; Vincenzo Lippiello; Bruno Siciliano (IEEE Trans. Control. Syst. Technol., 2017)

Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project. - Fabio Ruggiero; Jung-Tae Kim; Alejandro Gutierrez-Giles; Aykut C. Satici; Alejandro Donaire; Jonathan Cacace; Luca Rosario Buonocore; Giuseppe Andrea Fontanelli; Vincenzo Lippiello; Bruno Siciliano (ICINCO (Selected Papers), 2018)

Global stabilisation of underactuated mechanical systems via PID passivity-based control. - José Guadalupe Romero; Alejandro Donaire; Romeo Ortega; Pablo Borja 001 (Autom., 2018)

Discontinuous energy shaping control of the Chaplygin sleigh. - Joel Ferguson; Alejandro Donaire; Richard H. Middleton (CoRR, 2018)

Robust integral action of port-Hamiltonian systems. - Joel Ferguson; Alejandro Donaire; Romeo Ortega; Richard H. Middleton (CoRR, 2018)

A port-Hamiltonian approach to the control of nonholonomic systems. - Joel Ferguson; Alejandro Donaire; Christopher Renton; Richard H. Middleton (CoRR, 2018)

Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project. - Fabio Ruggiero; Antoine Petit 003; Diana Serra; Aykut C. Satici; Jonathan Cacace; Alejandro Donaire; Fanny Ficuciello; Luca Rosario Buonocore; Giuseppe Andrea Fontanelli; Vincenzo Lippiello; Luigi Villani; Bruno Siciliano (IEEE Robotics Autom. Mag., 2018)

Suppression of Wave Disturbances and Tracking Control for Marine Systems. - Justin M. Kennedy; Alejandro Donaire; Jason J. Ford; Francis Valentinis (CDC, 2019)

Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach. - Rodolfo Reyes-Báez; Arjan van der Schaft; Bayu Jayawardhana; Alejandro Donaire; Tristán Pérez (ECC, 2019)

Kinetic-Potential Energy Shaping for Mechanical Systems With Applications to Tracking. - Joel Ferguson; Alejandro Donaire; Richard H. Middleton (IEEE Control. Syst. Lett., 2019)

Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach. - Diana Serra; Fabio Ruggiero; Alejandro Donaire; Luca Rosario Buonocore; Vincenzo Lippiello; Bruno Siciliano (IEEE Trans. Robotics, 2019)

String Stable Integral Control of Vehicle Platoons with Actuator Dynamics and Disturbances. - Guilherme Fróes Silva; Alejandro Donaire; Aaron McFadyen; Jason J. Ford (CDC, 2020)

Passivity-based control design for a continuum robotic manipulator with disturbances. - Johannes Schüle; Alejandro Donaire; Oliver Sawodny (SII, 2020)

Robust Trajectory Tracking Control for Fully Actuated Marine Surface Vehicle. - Francisco Del-Rio-Rivera; Victor M. Ramírez-Rivera; Alejandro Donaire; Joel Ferguson (IEEE Access, 2020)

String stable integral control of vehicle platoons with disturbances. - Guilherme Froes Silva; Alejandro Donaire; Aaron McFadyen; Jason J. Ford (CoRR, 2020)

Force and state-feedback control for robots with non-collocated environmental and actuator forces. - Alejandro Donaire; Luigi Villani; Fanny Ficuciello; Juan Tomassini; Bruno Siciliano (CoRR, 2020)

Correction to the Paper "A Robust IDA-PBC Approach for Handling Uncertainties in Underactuated Mechanical Systems". - Alejandro Donaire; José Guadalupe Romero; Romeo Ortega (IEEE Trans. Autom. Control., 2020)

Matched Disturbance Rejection for a Class of Nonlinear Systems. - Joel Ferguson; Alejandro Donaire; Romeo Ortega; Richard H. Middleton (IEEE Trans. Autom. Control., 2020)

Energy pumping-and-damping for gait robustification of underactuated planar biped robots within the hybrid zero dynamics framework. - Pierluigi Arpenti; Alejandro Donaire; Fabio Ruggiero; Vincenzo Lippiello (HUMANOIDS, 2021)

Impedance Control for a Flexible Robot Enhanced with Energy Tanks in the port-Hamiltonian Framework. - Martín Mujica; Alejandro Donaire; Mourad Benoussaad; Jean-Yves Fourquet (IROS, 2021)

String stable integral control design for vehicle platoons with disturbances. - Guilherme Fróes Silva; Alejandro Donaire; Aaron McFadyen; Jason J. Ford (Autom., 2021)

Robust energy shaping for mechanical systems with dissipative forces and disturbances. - Ainoor Teimoorzadeh; Alejandro Donaire; Pierluigi Arpenti; Fabio Ruggiero (ECC, 2022)

Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots. - Pierluigi Arpenti; Alejandro Donaire; Fabio Ruggiero; Vincenzo Lippiello (IROS, 2022)

String Stability in Microgrids Using Frequency Controlled Inverter Chains. - Guilherme Froes Silva; Alejandro Donaire; María M. Seron; Aaron McFadyen; Jason J. Ford (IEEE Control. Syst. Lett., 2022)

Control of underactuated marine crafts with matched disturbances. - Justin M. Kennedy; Alejandro Donaire; Jason J. Ford (Int. J. Control, 2022)

Holonomic Rolling Nonprehensile Manipulation Primitive. - Alejandro Donaire; Fabio Ruggiero; Vincenzo Lippiello; Bruno Siciliano (Robot Dynamic Manipulation, 2022)

Nonholonomic Rolling Nonprehensile Manipulation Primitive. - Alejandro Gutierrez-Giles; Aykut C. Satici; Alejandro Donaire; Fabio Ruggiero; Vincenzo Lippiello; Bruno Siciliano (Robot Dynamic Manipulation, 2022)

Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances. - Enrico Franco; Pierluigi Arpenti; Alejandro Donaire; Fabio Ruggiero (IEEE Control. Syst. Lett., 2024)

Scalable Input-to-State Stability of Nonlinear Interconnected Systems. - Guilherme Fróes Silva; Alejandro Donaire; Richard H. Middleton; Aaron McFadyen; Jason J. Ford (IEEE Trans. Autom. Control., 2025)