Integral control of distributed parameter systems with input relay hysteresis

Closing the loop around an exponentially stable single-input single-output regular linear system, subject to input relay hysteresis and compensated by an integral controller, is shown to ensure asymptotic tracking of constant reference signals, provided that (a) the steady-state gain of the linear part of the plant is positive, (b) the positive integrator gain is sufficiently small and (c) the reference value is feasible in a very natural sense