Domination-Based Integral Control of a Class of Nonlinear Systems with Unknown Perturbations

In this thesis, we investigate the asymptotic regulation for a class of single input single output nonlinear systems. The nonlinearities of the systems considered in this paper are Lipschitz, and the integral of the regulation error is augmented to the system equation. By utilizing the domination approach and high feedback gain, we design an integral controller which regulates the output to a constant reference signal. The controller is scaled with a large gain to render the trajectories of nonlinear system to approach a unique equilibrium point at which the regulation error is zero.