Abstract
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 language | English (US) |
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Pages (from-to) | 1336-1342 |
Number of pages | 7 |
Journal | IEEE Transactions on Automatic Control |
Volume | 46 |
Issue number | 8 |
DOIs | |
State | Published - Aug 2001 |
Keywords
- 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