  This paper provides a constructive passivity-based control approach to solve
the set-point regulation problem for input-affine continuous nonlinear systems
while considering saturation in the inputs. As customarily in passivity-based
control, the methodology consists of two steps: energy shaping and damping
injection. In terms of applicability, the proposed controllers have two
advantages concerning other passivity-based control techniques: (i) the energy
shaping is carried out without solving partial differential equations, and (ii)
the damping injection is performed without measuring the passive output. The
proposed methodology is suitable to control a broad range of physical systems,
e.g., mechanical, electrical, and electro-mechanical systems. We illustrate the
applicability of the technique by designing controllers for systems in
different physical domains, where we validate the analytical results via
simulations and experiments.
