**3. Passivity-Based Control Design**

PBC control is a powerful nonlinear control technique that allows designing stable controllers by taking advantage of pH modeling. The main objective of the PBC is to find a set of control laws that help to preserve the pH structure of the dynamical model in closed-loop to guarantee stability in the sense of Lyapunov, using energetic modeling [12]. There are different approaches based on the PBC theory; the most known approach corresponds to the interconnection and damping assignment (IDA-PBC) because it allows working with linear, nonlinear, and non-affine dynamical systems [13]. Nevertheless, there is also an interesting alternative that includes the well-known advantages of the PI actions in the PBC design, which produces a stable PI-PBC approach that guarantees stability in closed-loop operation; however, this approach is only applicable in nonlinear systems with a bilinear structure such as the case of the dynamical models of the power electronic converters [2]. In the next subsection, we will present the general PI-PBC design for bilinear systems.
