  In this extended abstract, we propose a tuning approach for nonlinear
mechanical systems to modify the behavior of the closed-loop system, where we
are particularly interested in attenuating oscillations from the transient
response. Towards this end, we inject damping into the system, and we provide
two tuning methods to select the gains that are appropriate for our purposes.
Furthermore, we apply these tuning rules to a 2DoF planar manipulator and
present its simulation results.
