Universal integral control: An approach based on mollifiers
Abstract
The Universal Integral Control, introduced in H.K. Khalil [6], is revisited by employing mollifiers instead of a high-gain observer for the differentiation of the output signal. The closed loop system is a classical functional differential equation with distributed delays on which standard Lyapunov arguments are applied to study the stability. Low-pass filtering capability of mollifiers is demonstrated for a high amplitude and rapidly oscillating noise. The controller is supported by numerical simulations.
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