The article discusses the concept of energy shaping in control systems, emphasizing its importance in passivity-based control (PBC). It highlights that PBC does not rely on specific structural properties of mechanical systems but on the universal principle of energy balancing. The paper addresses the limitations of standard PBC in systems with unbounded energy dissipation and proposes a new approach to overcome this obstacle. It introduces the concept of interconnection and damping assignment PBC, which allows for the design of energy-based controllers for a wide range of physical systems. The paper also discusses the importance of incorporating energy principles in control design, arguing that this approach provides a more systematic and physically meaningful way to achieve control objectives. The article presents a detailed analysis of energy-balancing PBC for mechanical systems and discusses its application to various physical systems, including electrical and electromechanical systems. It also addresses the challenge of stabilizing systems with infinite dissipation by modeling the control action as a state-modulated power-preserving interconnection of the plant with an infinite energy source system. The paper concludes that energy-based control methods provide a powerful framework for designing controllers that can handle a wide range of physical systems, including those with complex dynamics and unbounded dissipation.The article discusses the concept of energy shaping in control systems, emphasizing its importance in passivity-based control (PBC). It highlights that PBC does not rely on specific structural properties of mechanical systems but on the universal principle of energy balancing. The paper addresses the limitations of standard PBC in systems with unbounded energy dissipation and proposes a new approach to overcome this obstacle. It introduces the concept of interconnection and damping assignment PBC, which allows for the design of energy-based controllers for a wide range of physical systems. The paper also discusses the importance of incorporating energy principles in control design, arguing that this approach provides a more systematic and physically meaningful way to achieve control objectives. The article presents a detailed analysis of energy-balancing PBC for mechanical systems and discusses its application to various physical systems, including electrical and electromechanical systems. It also addresses the challenge of stabilizing systems with infinite dissipation by modeling the control action as a state-modulated power-preserving interconnection of the plant with an infinite energy source system. The paper concludes that energy-based control methods provide a powerful framework for designing controllers that can handle a wide range of physical systems, including those with complex dynamics and unbounded dissipation.