Asymptotic tracking for linear systems with actuator saturation by output feedback control

This paper is concerned with asymptotic tracking for linear systems with actuator saturation by output feedback control. Both reference inputs and disturbances are represented as zero-input responses of linear systems. The controller includes the internal model with an anti-windup term for the reference and disturbance signals and a state observer for the system to allow output feedback control. The overall system is shown to be asymptotically stable for any initial condition of the system as long as the magnitudes of the reference and disturbance signals are sized such that the asymptotic tracking of the reference signal can be achieved without saturating the actuator. A simulation example is presented to verify the effectiveness of the proposed approach.