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Tracking and disturbance rejection of MIMO nonlinear systems with PI controller (1985)

Desoer, C. A. ; Lin, C. A.

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Publication Date: 2019-06-28

Description: The 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.

Keywords: CYBERNETICS

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