Key points are not available for this paper at this time.
Saturation non-linearities are perhaps the most commonly present type of non-linearities in dynamic systems. It is therefore important for the controller present to function satisfactorily in the presence of input saturation. In this paper we present an adaptive controller which leads to satisfactory performance in the presence of magnitude saturation of the control input. For both continuous time and discrete time plants, the adaptive controller is shown to result in global stability if the plant is open loop stable and minimum phase, and local stability otherwise. Robustness properties of the resulting adaptive controller are established. The performance is verified through experimental results obtained from adaptive control of a precision machine tool axis. © 1997 by John Wiley & Sons, Ltd.
Annaswamy et al. (Sat,) studied this question.