Bounded Integral Controller for Nonlinear MIMO Systems with Inputs Constraint

Abstract

In this paper, a bounded integral controller (BIC) is developed for nonlinear multiple-input and multiple-output (MIMO) systems to handle the sum of squares constraint of control inputs. The BIC guarantees the inputs constraint independently from the plant parameters, and keeps the properties of traditional integral controller (IC) with eliminating tracking errors and achieving disturbances rejection. The closed-loop stability is analyzed with the input-to-state (practical) stability (ISpS). Two simulation cases with practical applications are provided to demonstrate the effectiveness of the BIC design.