  This paper applies the recently developed framework for integral control on
nonlinear spaces to two non-standard cases. First, we show that the property of
perfect target stabilization in presence of actuation bias holds also if this
bias is state dependent. This might not be surprising, but for practical
purposes it provides an easy way to robustly cancel nonlinear dynamics of the
uncontrolled plant. We specifically illustrate this for robust stabilization of
a pendulum at arbitrary angle, a problem posed as non-trivial by some
colleagues. Second, as previous work has been restricted to systems with as
many control inputs as configuration dimensions, we here provide results for
integral control of a non-holonomic system. More precisely, we design robust
steering control of a rigid body under velocity bias.
