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Tracking and disturbance rejection of MIMO nonlinear systems with PI controller. (English) Zbl 0573.93027
Tracking and disturbance rejection of a class of MIMO nonlinear systems with 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.
Reviewer: E.Eitelberg

MSC:
93C10 Nonlinear systems in control theory
93C35 Multivariable systems, multidimensional control systems
93D15 Stabilization of systems by feedback
93D20 Asymptotic stability in control theory
93B50 Synthesis problems
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