  This paper addresses the trajectory-tracking problem for a class of
electromechanical systems. To this end, the dynamics of the plants are modeled
in the so-called port-Hamiltonian framework. Then, the notion of contraction is
exploited to design the desired closed-loop dynamics and the corresponding
tracking controller. Notably, the proposed control design method does not
require solving partial differential equations or changing the coordinates of
the plant, which permits preserving the physical interpretation of the
controller. The applicability of the proposed approach is illustrated in
several electromechanical systems via simulations.
