  A prevailing trend in the stabilization of port-Hamiltonian systems is the
assumption that the plant and the controller are both passive. In the standard
approach of control by interconnection based on the generation of Casimir
functions, this assumption leads to the dissipation obstacle, which essentially
means that dissipation is admissible only on the coordinates of the closed-loop
Hamiltonian that do not require shaping and thus severely restricts the scope
of applications. In this contribution, we show that we can easily go beyond the
dissipation obstacle by allowing the controller to have a negative
semi-definite resistive structure, while guaranteeing stability of both the
closed-loop and the controller.
