Discussion on: ``Energy shaping of port-Hamiltonian systems by using alternate passive input-output pairs'' (Q629655)

This paper further elaborates on a passive output with the purpose of providing an energy-balance (EB) interpretation for basic interconnection and damping assignment (BIDA). The authors show that the process of generating new passive outputs can be understood as a decomposition and a further `re-composition' of the plant's Dirac and resistive underlying structures. The abstraction to Dirac structures offers some advantages, and its main drawback is that one does not derive the power shaping output using a clear criterion.