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This paper deals with the problem of trajectory tracking of a class ofbilinear systems with time--varying measurable disturbance. A set of matrices{A,B_i} has been identified, via a linear matrix inequality, for which it ispossible to ensure global tracking of (admissible, differentiable) trajectorieswith a simple linear time--varying PI controller. Instrumental to establish theresult is the construction of an output signal with respect to which theincremental model is passive. The result is applied to the boost and themodular multilevel converter for which experimental results are given.

Global Tracking Passivity--based PI Control of Bilinear Systems and its Application to the Boost and Modular Multilevel Converters