Modified composite nonlinear feedback for nonstep output tracking of multi-input multi-output linear discrete-time singular systems with actuator saturation

This paper considers multi-input multi-output (MIMO) linear discrete-time singular systems with input saturation and investigates the non-step tracking control problem for these systems. For this purpose, first the equations of reference generator which is a linear discrete-time singular system with appropriate input is introduced and the dynamical equations of error vector are derived. Then the modified CNF controller is developed for tracking non-step reference vector, which is generated by the reference generator. In this regard, a theorem is given and proved, which guaranties the output tracking even if the input saturation takes place. Finally, a design example is given and computer simulations are verified the theoretical results.