Design of feedback control systems for stable plants with saturating actuators

A systematic control design methodology is introduced for multi-input/multi-output stable open-loop plants with multiple saturations. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: (1) the modified compensator never produces saturating control signals: (2) integrators and/or slow dynamics in the compensator never windup: (3) the directional properties of the controls are maintained; and (4) the closed-loop system has certain guaranteed stability properties. The advantages of the proposed design methodology are illustrated by the simulation of an academic example and the simulation of the multivariable longitudinal control of a modified model of the F-8 aircraft.>