We consider semi-global stabilization and output regulation problems via state and measurements feedback for linear plants (both continuous-time and discrete-time) with actuators subject to amplitude and rate saturation. In our approach, the actuator constraints are modelled as an operator and is incorporated in the controller so that the control signal does not overload the actuators. Both the problem formulation and the analysis is done in the functional differential equation framework.
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Stoorvogel et al. (1999) studied this question.
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