Tracking and disturbance rejection of MIMO nonlinear systems with PI controllerThe tracking and disturbance rejection of a class of MIMO nonlinear systems with a linear proportional plus integral (PI) compensator is studied. Roughly speaking, it is shown 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.
Document ID
19860050680
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Desoer, C. A. (California Univ. Berkeley, CA, United States)
Lin, C. A. (California, University Berkeley, United States)