Robust nonlinear integral control

Zhong Ping Jiang, Iven Mareels

Research output: Contribution to journalArticlepeer-review


It is well known from linear systems theory that an integral control law is needed for asymptotic set-point regulation under parameter perturbations. This note presents a similar result for a class of nonlinear systems in the presence of an unknown equilibrium due to uncertain non-linearities and dynamic uncertainties. Both partial-state and output feed- back cases are considered. Sufficient small-gain type conditions are identified for existence of linear and nonlinear control laws. A procedure for robust nonlinear integral controller design is presented and illustrated via a practical example of fan speed control.

Original languageEnglish (US)
Pages (from-to)1336-1342
Number of pages7
JournalIEEE Transactions on Automatic Control
Issue number8
StatePublished - Aug 2001


  • Dynamic uncertainties
  • Input-to-state stability
  • Nonlinear systems
  • Robust integral control
  • Small-gain

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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