| Absolute Stability and Integral Control (2007) | |||||||||||||||||
Abstract | |||||||||||||||||
| Absolute stability results of both circle criterion and Popov type are derived for nite-dimensional linear plants with nonlinearity in the feedback loop. The linear plant contains an integrator (and so is not asymptotically stable). The (possibly timevarying) nonlinearity satis es a particular sector condition which allows for cases with zero lower gain (such as saturation and deadzone). The conjunction of stable, but not asymptotically stable, linear plants and nonlinearities with possibly zero lower gain is a distinguishing feature of this paper. The absolute stability results are invoked in proving convergence and stability properties of low-gain integral feedback control for tracking of constant reference signals in the context of exponentially stable linear systems subject to input and output nonlinearities. | |||||||||||||||||
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