How much integral action can a control system tolerate (Q1329953)

A linear autonomous finite-dimensional state-space system is called integral controllable, if there exists \(k^* > 0\) such that the integrator \(kI / s\) stabilizes the system in a negative feedback loop for all \(k \in (0,k^*)\). In this paper a closed formula is derived for the largest possible \(k^* > 0\), i.e. for the largest amount of integral action that an integral controllable system can tolerate without loosing closed-loop stability. A block-structured guardian-map approach is used. A connection is obtained with the calculation of the maximal stability range of a singularly perturbed system.