Robustness of the nonlinear PI control method to ignored actuator dynamics
Provides theoretical robustness guarantees for nonlinear PI control in the presence of ignored actuator dynamics, addressing a practical concern for control engineers.
This note proves that the nonlinear PI control method can achieve global boundedness and regulation for sector bounded nonlinear systems with unknown control directions, provided actuator dynamics are sufficiently fast and the control gain is from a specific Nussbaum function subclass. Simulations confirm the results.
This note examines the robustness properties of the nonlinear PI control method to ignored actuator dynamics. It is proven that global boundedness and regulation can be achieved for sector bounded nonlinear systems with unknown control directions if the actuator dynamics are sufficiently fast and the nonlinear PI control gain is chosen from a subclass of the Nussbaum function class. Simulation examples are also presented that demonstrate the validity of our arguments.