Integral control of stable MIMO nonlinear systems with input constraints

Pietro Lorenzetti, George Weiss

Research output: Contribution to journalConference articlepeer-review


This paper presents a novel anti-windup integral controller for a stable multi-input multi-output nonlinear plant. We use tools from projected dynamical systems theory to force the controller state (and thus its output) to remain in a “permitted” (compact and convex) region, regardless of the plant behaviour. Then, using results from singular perturbation theory, we find a sufficient condition on the controller gain ensuring, under suitable monotonicity assumptions on the plant, closed-loop stability and reference tracking for a feasible set of constant references.

Original languageEnglish
Pages (from-to)209-214
Number of pages6
Issue number14
StatePublished - 2021
Event3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 - Tokyo, Japan
Duration: 15 Sep 202117 Sep 2021


FundersFunder number
Horizon 2020 Framework Programme765579


    • Integral control
    • Nonlinear systems
    • Projected dynamical systems
    • Singular perturbation method
    • Windup


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