Adaptive low-gain integral control of linear systems with input and outputnonlinearities

An adaptive low-gain integral control framework is developed for tracking c onstant reference signals in a context of finite-dimensional, exponentially stable, single-input, single-output linear systems with positive steady-st ate gain and subject to locally Lipschitz, monotone input and output nonlin earities of,a general nature: the input nonlinearity is required to satisfy an asymptotic growth condition (of sufficient generality to accommodate no nlinearities ranging from saturation to exponential growth) and the output nonlinearity is required to satisfy a sector constraint in those cases wher ein the input nonlinearity is unbounded. (C) 2001 Elsevier Science BN. All rights reserved.