Control of Plants with Input Saturation Nonlinearities

@article{Doyle1987ControlOP,
  title={Control of Plants with Input Saturation Nonlinearities},
  author={John C. Doyle and Roy S. Smith and Dale F. Enns},
  journal={1987 American Control Conference},
  year={1987},
  pages={1034-1039}
}
This paper considers control design for systems with input magnitude saturation. Four examples, 2 SISO and 2 MIMO, are used to illustrate the properties of several existing schemes. A new method based on a modification of conventional antiwindup compensation is introduced. It is assumed that the reader is familiar with the problem of integral windup for saturating plants and conventional schemes for dealing with it. 
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