Finite-time integral control for a class of nonlinear planar systems with non-vanishing uncertainties

This paper considers the problem of globally regulating a class planar nonlinear systems perturbed by various non-vanishing uncertainties including constant step disturbances, exogenous time-varying disturbances with unknown magnitudes, and modeling system parameters. A new integral controller consisting dynamic semi-linear control law is constructed to drive states uncertain origin in finite time. achieved three major mechanisms: (i) for purpose finite-time convergence, lower-order first constructed; (ii) revamping technique adding power integrator, containing linear corrective term proposed handle forms uncertainties; (iii) inequality established provide an effective estimating tool selection suitable gain guarantee stability.