A Dynamic Gain-Based Saturation Control Strategy for Feedforward Systems With Long Delays in State and Input

This article addresses the problem of global state regulation with stability by delay-free feedback for feedforward systems with large delays in both state and input. A gain-based nested saturation control strategy is developed to treat delays in the chain of integrators, state, and input simultaneously. It is shown that global state regulation with stability is possible by a delay-free, gain-based nested saturation compensator whose gain is updated dynamically. The effectiveness of the gain-based nested saturation controller is illustrated by a simple example when delays are present in state and input.