Output regulation with continuous feedback for linear systems with saturating actuators

We present a controller design method for output regulation for linear systems subject to actuator saturation. The feedback law is constructed from the stabilizing feedback law in such a way that a stabilizing feedback law that achieves a larger domain of attraction leads to a feedback law that achieves output regulation on a larger subset of the asymptotically regulatable region, and a stabilizing feedback law on the entire asymptotically null controllable region leads to a feedback law that achieves asymptotic output regulation on the entire asymptotically regulatable region. In this paper, the control signal is continuous in time. This complements the result of Hu et al. (2000) where the control signal is discontinuous at the switching surfaces.