Control of a chain of integrators subject to input saturation and disturbances

Xu Wang, Ali Saberi, Antonie Arij Stoorvogel, H°avard Fjær Grip

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    Abstract

    In this paper, we study control of a chain of integrators under actuator saturation and non-additive dis- turbances. We shall show that boundedness of the states can be ensured if the disturbances are matched and integral-bounded, misaligned and magnitude-bounded, or a combination of the two, using either a static or a dynamic low-gain state feedback. This result is an extension of our earlier work on double integrator.
    Original languageUndefined
    Pages (from-to)1562-1570
    Number of pages9
    JournalInternational journal of robust and nonlinear control
    Volume22
    Issue number14
    DOIs
    Publication statusPublished - 2012

    Keywords

    • EWI-22145
    • IR-81227
    • METIS-289665

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