Robust semi-global internal stabilization

Abstract

In the previous chapter, we discussed semi-global internal stabilization of linear systems subject to control magnitude saturation. However, all of this is obtained for an ideal saturation element σ(u). In reality, we are often faced with a saturation element which differs from the ideal saturation but still satisfies some of the basic properties as outlined in Sect. 2.6. One of the objectives of this chapter is to show in which respect the design methodologies such as low-gain and low-and-high-gain, which were described in detail in the previous chapter, still apply in case the saturation function has a different shape.