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This paper presents a passivity-based control for the DC/DC Buck-Boost converter-inverter-DC motor system. Such control exploits the energy structure associated with the system error dynamics. This in order to solve the trajectory tracking task for both the converter voltage and motor bidirectional angular velocity, without using electromechanical sensors. The successful experimental validation of the proposed control is performed in a built prototype of the system, using Matlab-Simulink and a DS1104 board.