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We consider the inclusion of a static antiwindup component in a continuous-time low-gain integral controller in feedback with a multi-input multi-output stable linear system subject to an input nonlinearity (from a class of functions that includes componentwise diagonal saturation). We demonstrate that the output of the closed-loop system asymptotically tracks every constant reference vector, which is &#x201C;feasible&#x201D; in a natural sense, provided that the integrator gain is sufficiently small. Robustness properties of the proposed control scheme are investigated and three examples are discussed in detail.

Low-Gain Integral Control for Multi-Input Multioutput Linear Systems With Input Nonlinearities