  This paper addresses the regulation and trajectory-tracking problems for two
classes of weakly coupled electromechanical systems. To this end, we formulate
an energy-based model for these systems within the port-Hamiltonian framework.
Then, we employ Lyapunov theory and the notion of contractive systems to
develop control approaches in the port-Hamiltonian framework. Remarkably, these
control methods eliminate the need for solving partial differential equations
or implementing any change of coordinates and are endowed with a physical
interpretation. We also investigate the effect of coupled damping on the
transient performance and convergence rate of the closed-loop system. Finally,
the applicability of the proposed approaches is illustrated in two applications
of electromechanical systems via simulations.
