Integral Control Lecture Notes by B.

Yao

1
Integral Control
Problem Formulation
System

( , , )
( , )
( , )
m m
x f x u w
y h x w
y h x w
=
=
=

(I1)
where , , ,
n p p
x R u R y R e e e and
m
m
y R e is the measured output including y.
l
w R e is a vector of unknown constant parameters or disturbances. Want to
design a feedback control such that

( ) as y t r t
where r is any constant.

Assumptions:
For each ,
r
v
w
(
=
(

there exists a unique pair ( , )
ss ss
x u that depends on v
continuously and satisfies
0 ( , , )
( , )
ss ss
ss
f x u w
r h x w
=
=
(I2)

In other words, ( , )
ss ss
x u are the desired equilibrium point and the
corresponding steady state input vector.
Integral Control Lecture Notes by B.Yao

2
Introducing Integral Action:

, e e y r o = =
(I3)

Augment the integrator with (I1) to obtain the fictitious plant:

( , , )
( , )
x f x u w
h x w r o
=

(I4)

Integral Control Lecture Notes by B.Yao

3
Integral Control

Plant
-
r u
y
Stabilizing
Controller
}
o e
x
Plant
-
r u
y
Stabilizing
Controller
}
o e
x


Now design a feedback control law that stabilizes the augmented system (I4) at
an equilibrium point ( , )
ss ss
x o , where
ss
o is the integral action to produce the
desired
ss
x . For example, in the case of state feedback given by

( , , ) u x e o = (I5)

where is designed such that there exists a unique
ss
o satisfying

( , ,0)
ss ss ss
u x o = (I6)

and the resulting CL system

( , ( , , ( , ) ), )
( , )
x f x x h x w r w
h x w r
o
o
=

(I7)

is asymptotically stable at ( , )
ss ss
x o .


Integral Control Lecture Notes by B.Yao

4
Integral Control via Linearization
Let
x I
u K x K o = (I8)

where
I
K is nonsingular such that there exists a unique
ss
o satisfying

ss x ss I ss
u K x K o = (I9)

Want to choose [ ]
x I
K K = K to stabilize (I7) at ( , )
ss ss
x o . Such a task can be
done via Linearization locally as follows. Linearize (I7):

( ) , , = BK

(I10)
where
ss
ss
x x
,
o o

(
=
(

,
0
,
0 0
A B
C
( (
= =
( (

A B

( , , ) ( , ) ( , , )
, ,
ss ss ss
ss ss ss
x x x
u u u
f x u w h u w f x u w
A C B
x x u
c c c
= = =
c c c


Note that although A and B may depend on the unknown operating point
( , )
ss ss
x o , a stabilizing K may still be synthesized such that BK is Hurwitz.

Integral Control Lecture Notes by B.Yao

5
Ex.12.4 Pendulum Example:
The same problem as in Ex.12.2 but we would like to design a control law that
can handle parametric uncertainties. Let
1 2
, , x x u T u u = = =

. Then,

1 2
2 1 2
1
sin( )

x x
x a x bx cu
y x

= +

It is easy to verify that Assumption (I2) is satisfied:
( )
, sin
0
d
ss ss d
a
x u
c
u
u
(
= =
(


and the linearization matrices are

( )
| |
0 1
0
, , 1 0
cos
d
A B C
a b
c
u
(
(
= = =
(
(




Let
[ ],
x P D I I
K k k K k = =
Then,
| |
0 1 0 0
cos 0
1 0 0 0
d P D I
a b c k k k u
( (
( (
=
( (
( (

A BK
Integral Control Lecture Notes by B.Yao

6

0 1 0
( cos ) ( )
1 0 0
P d D I
k c a b k c k c u
(
(
= + +
(
(

A BK

It is easy to check that A BK is Hurwitz if

0
( )( cos ) 0
0
D
D d P I
I
b k c
b k c a k c k c
k c
u
+ >

+ + >

>

which can be satisfied even when we dont know the exact value of a>0, b>0
and c>0. For example, assume
1 2
1
,
a
c c
> > . Then, the choice of
0, 0
D I
k k > > and
1 2
I
P
D
k
k
k
> + ensures A BK is Hurwitz.
Final Control Law:

1 2
, ( )
x I P D I
P D I d
u K x K k x k x k
k k k dt
o o
u u o o u u
= =
= =
}

which is nothing but the usual PID Control !