Adaptive low-gain integral control in the presence of input and output nonlinearities

Abstract

Adaptive low-gain integral control strategies are presented for tracking constant reference signals in the context of finite-dimensional, exponentially stable, single-input, single-output linear systems subject to locally Lipschitz continuous, monotone input and output nonlinearities of a general nature: the input nonlinearity is required to satisfy an asymptotic growth condition and the output nonlinearity is required to satisfy a sector constraint in those cases wherein the input nonlinearity is not bounded.