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Yes, Incredible Hulk is very much continuity and the incident in Harlem was even referenced in Avengers. Banner IS in control of Hulk, but Loki's influence is what caused him to transform in the Helicarrier.
The events of Incredible Hulk occur during Iron Man 2, and the scene with Stark at the end occurs after Iron Man 2 ends, prior to Thor's arrival and Captain America being found.
Continuity:
IM1
Parts of IH and IM2 occur simultaneously
Thor
Captain America
Avengers
Well technically CA takes place before IM...with the ending happening before Avengers....