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Summary: Proceedings of 24th Conference
on Decision and Control
~ t .Lauderdale,FL December1985
TP11 = 4:30
Tracking and Disturbance Rejection of MIMO Nonlinear Systems with a PI or PS Controller
V. Anantharam and C. A. Desoer
Department of Electrical Engineering and Computer Sciences
and the Electronics Research Laboratory
University of California, Berkeley, C.4 94720
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We study tracking and disturbance rejectionfor a class
of MIMO nonlinear systems, with a linear proportionalplus
integral (PI) compensator, in the continuous time case, and
a linear proportionalplussum (PS) compensator in the
discretetimecase. We show that if thenonlinearplant is
szponentidly stable and has a strictly increasing dc steady
state 1/0 map then a simple PI or PS compensator can be
usedto yield a stableunityfeedbackclosed loop system
which asymptoticallytracksreferenceinputsthattendto
constantvectorsandasymptoticallyrejectsdisturbances
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