  To extend the realm of application of the well known controller design
technique of interconnection and damping assignment passivity-based control
(IDA-PBC) of mechanical systems two modifications to the standard method are
presented in this article. First, similarly to [1], it is proposed to avoid the
splitting of the control action into energy-shaping and damping injection
terms, but instead to carry them out simultaneously. Second, motivated by [2],
we propose to consider the inclusion of generalised forces, going beyond the
gyroscopic ones used in standard IDA-PBC. It is shown that several new
controllers for mechanical systems designed invoking other (less systematic
procedures) that do not satisfy the conditions of standard IDA-PBC, actually
belong to this new class of SIDA-PBC.
