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Nonlinear controllers for positive real systems with arbitrary input nonlinearities

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2 Author(s)
Bernstein, D.S. ; Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA ; Haddad, M.M.

Input nonlinearities such as saturation can severely degrade closed-loop performance due to integrator windup and other effects. For positive real plants with positive real controllers, we propose a nonlinear controller modification that effectively counteracts the effects of arbitrary input nonlinearities. For this class of problems, we prove global asymptotic stability of the closed-loop system and demonstrate closed-loop performance by means of system simulation

Published in:

Automatic Control, IEEE Transactions on  (Volume:39 ,  Issue: 7 )

Date of Publication:

Jul 1994

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