Tracking and Disturbance Rejection of MIMO Nonlinear Systems with PI Controller

Charles A. Desoer, Ching-An Lin

Research output: Contribution to journalArticle

112 Scopus citations

Abstract

We study tracking and disturbance rejection of a class of MIMO nonlinear systems with linear proportional plus integral (PI) compensator. Roughly speaking, we show that if the given nonlinear plant is exponentially stable and has a strictly increasing dc steady-state I/O map, then a simple PI compensator can be used to yield a stable unity-feedback closed-loop system which asymptotically tracks reference inputs that tend to constant vectors and asymptotically rejects disturbances that tend to constant vectors.

Original languageEnglish
Pages (from-to)861-867
Number of pages7
JournalIEEE Transactions on Automatic Control
Volume30
Issue number9
DOIs
StatePublished - 1 Jan 1985

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