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A new control design methodology is introduced for multi-input/multi-output systems with unstable open loop plants and saturating actuators. A control system is designed using well known linear control theory techniques and then a reference prefilter is introduced so that when the references are sufficiently small, the control system operates linearly as… (More)
Magnitude saturation of the control signals is a commonplace nonlinear phenomenon that the control system designer must address. However, in addition to magnitude saturation, the control system designer must also deal with rate saturation often combined with magnitude saturation. A systematic control design methodology is introduced for… (More)
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