Bounded Integral Controller With Limited Control Power for Nonlinear Multiple-Input Multiple-Output Systems

Yeqin Wang, Beibei Ren, Qing Chang Zhong, Jiguo Dai

Research output: Contribution to journalArticlepeer-review


In this brief, a bounded integral controller (BIC) with limited control power is proposed for a class of nonlinear multiple-input multiple-output (MIMO) systems. The sum-of-squares constraint on the control inputs with time-varying weights is studied and handled through the BIC design, which guarantees that both the control inputs and an auxiliary time-varying variable are dynamically constrained on a designed control circle. The BIC inherits the properties of the traditional integral controller to eliminate tracking errors and achieve disturbance rejections. Even under time-varying input weights, the BIC guarantees limited control power independently of both plant information and system states. The input-to-state (practical) stability of the closed-loop system is established. To demonstrate the effectiveness of the proposed method, experimental validations are conducted for two systems: a system with multiple dc motors subject to a power limit with time-varying input weights and a permanent magnet synchronous motor system subject to a voltage limit with time-invariant input weights.

Original languageEnglish
JournalIEEE Transactions on Control Systems Technology
StateAccepted/In press - 2020


  • Bounded integral controller (BIC)
  • Control systems
  • DC motors
  • Integral equations
  • MIMO communication
  • Synchronous motors
  • Time-varying systems
  • Voltage control
  • limited control power
  • multiple-input multiple-output (MIMO)
  • sum-of-squares constraint
  • time-invariant input weights
  • time-varying input weights.

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