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This note examines the robustness properties of the nonlinear PI controlmethod to ignored actuator dynamics. It is proven that global boundedness andregulation can be achieved for sector bounded nonlinear systems with unknowncontrol directions if the actuator dynamics are sufficiently fast and thenonlinear PI control gain is chosen from a subclass of the Nussbaum functionclass. Simulation examples are also presented that demonstrate the validity ofour arguments.

Robustness of the nonlinear PI control method to ignored actuator dynamics