ABSTRACT
It is a long lasting open problem to synthesize a general PI control for nonlinear
systems with its gains analytically determined, yet ensuring stability and transient
performance. The problem is further complicated if modeling uncertainties and
external disturbances as well as actuation failures are involved in the systems. In
this chapter, a generalized PI control with adaptively adjusting gains is presented,
which gracefully obviates the ad hoc and time-consuming “trial and error” process
for determining the gains as involved in traditional PI control; collectively
accommodates modeling uncertainties, undetectable disturbances, and undetectable
actuation failures that might occur in the systems; and dynamically maintains
prespecified transient and steady-state performance.
