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Universal integral controllers for minimum-phase nonlinear systems
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DOI：10.1109/9.847730.png)
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We consider a single-input-single-output (SISO) nonlinear system that has a well-defined normal form with asymptotically stable zero dynamics. Using only knowledge of the relative degree and the sign of the high-frequency gain, we design an output feedback integral controller that asymptotically regulates the output to a bounded time-varying reference signal with a constant limit. We give regional as well as semiglobal results. We also show that, for relative degree-one and two systems, the proposed integral controller reduces to the classical PI and PID controllers, respectively.
Keyword:
integral control
minimum-phase systems
nonlinear control
observers
robust control
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7
论文数:
1.3W
被引数:
6.7W
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