  This paper presents the design of an integral controller for vehicle platoons
with actuator dynamics. The proposed controller ensures string stability with
disturbances and simultaneously compensates for constant disturbances through
integral action. Sufficient conditions for string stability are satisfied by
the use of a suitable state transformation. The proposed controller guarantees
disturbance string stability for a prescribed time constant of the actuator
dynamics, and we show through simulation that platoons with faster dynamics are
also made disturbance string stable.
