Nussbaum Gain Control for Limit Input Systems with Unknown Control Direction

The limited input is constraint condition that prevails in actual physical system. The saturated that is caused by limited input is nonlinear factor that need to be considered in the design of control system. The input of control system is limited by saturation in many past research papers. The limited input Nussbaum gain control algorithm is proposed in this paper. On the basis of limited gain, the problem of actuator saturation is considered in this paper. The theoretical basis is provided for Nussbaum gain control experiencing from academic research to practical application. At last, detailed numerical simulation is done to testify the rightness and robustness of the proposed method. The algorithm greatly improves the stability range of the Nussbaum gain control and makes it depend on the initial value less and less.