The concept of nonlinear integral extension can indeed be applied to other control architectures beyond the PID framework, such as model predictive control (MPC) or adaptive control, to enhance convergence in the presence of disturbances. In MPC, the nonlinear integral extension can be incorporated into the cost function to penalize tracking errors over time, thereby improving convergence performance. By adjusting the weighting of the integral term in the cost function, the controller can effectively handle disturbances and uncertainties, leading to better tracking and regulation. Similarly, in adaptive control, the nonlinear integral extension can be utilized to adaptively adjust control parameters based on the system's response to disturbances. This adaptive tuning can enhance the controller's ability to converge to the desired setpoint despite varying operating conditions, making the system more robust and responsive to changes. Overall, the nonlinear integral extension concept can be a valuable tool in enhancing convergence and robustness across a variety of control architectures beyond PID.