  A general controller scheme for stabilizing a non-linear system, which has
its origin from the linear system theory, is proposed in this paper. The
proposed controller can stabilize the non-linear system subjected to initial
conditions. An effective way to obtain the controller parameters is presented
with the knowledge of the system model. The controller is designed for the
linear time-invariant (LTI) system, which can reject any disturbance acting on
it. Paper emphasis the idea of an integrator controller in disturbance
rejection. The concept is extended to the application to non-linear systems
where the non-linearities are assessed as the disturbance to the refined linear
part of the system. Boundedness and convergence of the non-linear system with
the controller are proved to justify system stabilization. Hardware
implementation of the controller on the 2 dof helicopter model is presented
with experimental results, which validates the proposed control scheme.
