  This manuscript introduces a passivity-based integral control approach for
fully-actuated mechanical systems. The novelty of our methodology is that we
exploit the gyroscopic forces of the mechanical systems to exponentially
stabilize the mechanical system at the desired equilibrium even in the presence
of matched disturbances; additionally, we show that our approach is robust
against unmatched disturbances. Furthermore, we provide tuning rules to
prescribe the performance of the closed-loop system. We conclude this
manuscript with experimental results obtained from a robotic arm.
