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The authors present an enhanced composite nonlinear feedback (CNF) control technique for discrete-time systems with input saturation and with external disturbances. The conventional CNF control is proven to be capable of yielding better transient performance in tracking control for systems with input saturation. However, when the given system has external disturbances as in most practical situations, the conventional CNF control yields some steady-state errors in the resulting output response. The enhanced CNF technique presented is an extension of the conventional one. It retains the good transient properties of the conventional CNF control and at the same time has the additional capacity for eliminating steady-state bias because of unknown constant disturbances. A numerical example and practical disk drive servo system design are provided to demonstrate the effectiveness of this control technique. Experimental results show that the new design yields a huge improvement over classical approaches.
Date of Publication: January 2007