{"id":"https://openalex.org/W3214786000","doi":"https://doi.org/10.1109/tac.2021.3130876","title":"Sufficient Conditions for Global Integral Action via Incremental Forwarding for Input-Affine Nonlinear Systems","display_name":"Sufficient Conditions for Global Integral Action via Incremental Forwarding for Input-Affine Nonlinear Systems","publication_year":2021,"publication_date":"2021-11-25","ids":{"openalex":"https://openalex.org/W3214786000","doi":"https://doi.org/10.1109/tac.2021.3130876","mag":"3214786000"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2021.3130876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3130876","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03444503/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015892050","display_name":"Mattia Giaccagli","orcid":"https://orcid.org/0000-0003-3073-6900"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mattia Giaccagli","raw_affiliation_strings":["Laboratoire d’Automatique, de Génie des Procédés et de Génie Pharmaceutique (UMR CNRS 5007), Université Claude Bernard Lyon 1, Université de Lyon, Villeurbanne, France"],"raw_orcid":"https://orcid.org/0000-0003-3073-6900","affiliations":[{"raw_affiliation_string":"Laboratoire d’Automatique, de Génie des Procédés et de Génie Pharmaceutique (UMR CNRS 5007), Université Claude Bernard Lyon 1, Université de Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074286208","display_name":"Daniele Astolfi","orcid":"https://orcid.org/0000-0003-2690-7420"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Daniele Astolfi","raw_affiliation_strings":["Laboratoire d’Automatique, de Génie des Procédés et de Génie Pharmaceutique (UMR CNRS 5007), Université Claude Bernard Lyon 1, Université de Lyon, Villeurbanne, France"],"raw_orcid":"https://orcid.org/0000-0003-2690-7420","affiliations":[{"raw_affiliation_string":"Laboratoire d’Automatique, de Génie des Procédés et de Génie Pharmaceutique (UMR CNRS 5007), Université Claude Bernard Lyon 1, Université de Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082790000","display_name":"Vincent Andrieu","orcid":"https://orcid.org/0000-0003-1877-6205"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Andrieu","raw_affiliation_strings":["Laboratoire d’Automatique, de Génie des Procédés et de Génie Pharmaceutique (UMR CNRS 5007), Université Claude Bernard Lyon 1, Université de Lyon, Villeurbanne, France"],"raw_orcid":"https://orcid.org/0000-0003-1877-6205","affiliations":[{"raw_affiliation_string":"Laboratoire d’Automatique, de Génie des Procédés et de Génie Pharmaceutique (UMR CNRS 5007), Université Claude Bernard Lyon 1, Université de Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101646071","display_name":"Lorenzo Marconi","orcid":"https://orcid.org/0000-0001-5519-5448"},"institutions":[{"id":"https://openalex.org/I2801039369","display_name":"Marconi University","ror":"https://ror.org/00j0rk173","country_code":"IT","type":"education","lineage":["https://openalex.org/I2801039369"]},{"id":"https://openalex.org/I4210098188","display_name":"Laboratori Guglielmo Marconi (Italy)","ror":"https://ror.org/01r3vad87","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210098188"]},{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Marconi","raw_affiliation_strings":["Department of Electrical and Information Engineering - Guglielmo Marconi, University of Bologna, Bologna, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5519-5448","affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering - Guglielmo Marconi, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I2801039369","https://openalex.org/I4210098188","https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9349,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.91372258,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"67","issue":"12","first_page":"6537","last_page":"6551"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.975600004196167,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9514999985694885,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lipschitz-continuity","display_name":"Lipschitz continuity","score":0.6885561943054199},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.6757227778434753},{"id":"https://openalex.org/keywords/uniqueness","display_name":"Uniqueness","score":0.6525335907936096},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6363047361373901},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5443091988563538},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5135067105293274},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4222298562526703},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.39435651898384094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38238221406936646},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.22693169116973877},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2116430103778839},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.176215261220932}],"concepts":[{"id":"https://openalex.org/C22324862","wikidata":"https://www.wikidata.org/wiki/Q652707","display_name":"Lipschitz continuity","level":2,"score":0.6885561943054199},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.6757227778434753},{"id":"https://openalex.org/C2777021972","wikidata":"https://www.wikidata.org/wiki/Q22976830","display_name":"Uniqueness","level":2,"score":0.6525335907936096},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6363047361373901},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5443091988563538},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5135067105293274},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4222298562526703},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.39435651898384094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38238221406936646},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.22693169116973877},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2116430103778839},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.176215261220932},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tac.2021.3130876","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3130876","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-03444503v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03444503","pdf_url":"https://hal.science/hal-03444503/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control, In press, ⟨10.1109/TAC.2021.3130876⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:cris.unibo.it:11585/1002849","is_oa":false,"landing_page_url":"https://hdl.handle.net/11585/1002849","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03444503v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03444503","pdf_url":"https://hal.science/hal-03444503/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control, In press, ⟨10.1109/TAC.2021.3130876⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3214786000.pdf","grobid_xml":"https://content.openalex.org/works/W3214786000.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W114979488","https://openalex.org/W1489137987","https://openalex.org/W1521738998","https://openalex.org/W1976950634","https://openalex.org/W1984018705","https://openalex.org/W2026972764","https://openalex.org/W2036216368","https://openalex.org/W2102751218","https://openalex.org/W2104919393","https://openalex.org/W2105758800","https://openalex.org/W2110607918","https://openalex.org/W2117079884","https://openalex.org/W2121342825","https://openalex.org/W2149087996","https://openalex.org/W2157630435","https://openalex.org/W2160643425","https://openalex.org/W2160882803","https://openalex.org/W2162544552","https://openalex.org/W2163313703","https://openalex.org/W2168069806","https://openalex.org/W2171649678","https://openalex.org/W2198472822","https://openalex.org/W2211502475","https://openalex.org/W2312915715","https://openalex.org/W2320012146","https://openalex.org/W2324488392","https://openalex.org/W2328736443","https://openalex.org/W2417229928","https://openalex.org/W2557559376","https://openalex.org/W2562166486","https://openalex.org/W2784920819","https://openalex.org/W2804089961","https://openalex.org/W2964337106","https://openalex.org/W2975796030","https://openalex.org/W2994868918","https://openalex.org/W2995720468","https://openalex.org/W3097486956","https://openalex.org/W3112254529","https://openalex.org/W3203983068","https://openalex.org/W3208359232","https://openalex.org/W3213596036","https://openalex.org/W3214786000","https://openalex.org/W4245741303","https://openalex.org/W4292872153","https://openalex.org/W6751796548"],"related_works":["https://openalex.org/W571281153","https://openalex.org/W2949403936","https://openalex.org/W4301247218","https://openalex.org/W3023806604","https://openalex.org/W2952139525","https://openalex.org/W2129818458","https://openalex.org/W4289551052","https://openalex.org/W4390756076","https://openalex.org/W4243074410","https://openalex.org/W2964120842"],"abstract_inverted_index":{"In":[0],"this":[1,127],"article,":[2],"we":[3,61,129,141],"study":[4],"the":[5,30,33,40,44,49,54,57,64,69,76,85,95,105,108,135,149],"problem":[6,55],"of":[7,14,43,67,87,117,134,145,151,166,179],"constant":[8],"output":[9,122],"regulation":[10,77,123],"for":[11,84,148,163],"a":[12,25,88,111,143,152,173,177],"class":[13,178],"input-affine":[15],"multi-input":[16],"multi-output":[17],"nonlinear":[18],"systems,":[19],"which":[20,121],"do":[21],"not":[22],"necessarily":[23],"admit":[24],"normal":[26],"form.":[27],"We":[28,52,79],"allow":[29],"references":[31,106],"and":[32,39,60,107,115,176],"disturbances":[34],"to":[35,46,93,104],"be":[36],"arbitrarily":[37],"large":[38],"initial":[41],"conditions":[42,83,147],"system":[45,70,98],"range":[47],"in":[48,56],"full-state":[50],"space.":[51],"cast":[53],"contraction":[58],"framework,":[59],"rely":[62],"on":[63,120],"common":[65],"approach":[66,159],"extending":[68],"with":[71,102],"an":[72,118,131],"integral":[73],"action":[74],"processing":[75],"error.":[78],"then":[80],"present":[81],"sufficient":[82,146],"design":[86,150],"state-feedback":[89],"control":[90],"law":[91],"able":[92],"make":[94],"resulting":[96],"closed-loop":[97],"incrementally":[99,186],"stable,":[100],"uniformly":[101],"respect":[103],"disturbances.":[109],"Such":[110],"property":[112],"ensures":[113],"uniqueness":[114],"attractiveness":[116],"equilibrium":[119],"is":[124,160],"obtained.":[125],"To":[126],"end,":[128],"develop":[130],"incremental":[132],"version":[133],"forwarding":[136],"(mod$\\lbrace":[137],"L_gV\\rbrace$)":[138],"approach.":[139],"Finally,":[140],"provide":[142],"set":[144],"pure":[153],"(small-gain)":[154],"integral-feedback":[155],"control.":[156],"The":[157],"proposed":[158],"also":[161],"specialized":[162],"two":[164],"classes":[165],"systems":[167,171,181],"that":[168],"are":[169,185],"linear":[170],"having":[172],"Lipschitz":[174],"nonlinearity":[175],"minimum-phase":[180],"whose":[182],"zero":[183],"dynamics":[184],"stable.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}