Saturation nonlinearities are ubiquitous in engineering systems:
every physical actuator or sensor is subject to saturation owing to
its maximum and minimum limits. Input saturation is an operating
condition that is well known to the control community for its "side
effects", which cause conventional controllers to lose their
closed-loop performance as well as control authority in
stabilization. Therefore, the practical application of control
theory cannot avoid taking into account saturation nonlinearities
in actuators, explicitly dealing with constraints in control
design.
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