Global practical stabilization for integrator chain with actuator saturation and input additive disturbances

In this paper, we revisit the problem of disturbance rejection for an integrator chain system with actuator saturation and input additive disturbances. The goal is to design a nonlinear state feedback law to globally practically stabilize the closed-loop system, which means that any closed-loop system trajectory will converge to any arbitrarily small closed set where the origin is inside. The numerical examples will show the effectiveness of the proposed control design.