Output regulation for linear systems subject to input saturation

Ali Saberi School of Electrical Engineering and Computer Science Washington State University Pullman, WA 99164-2752 U.S.A. The purpose of this paper is to examine the problem of controlling a linear time-invariant system subject to input saturation in order to have its output track (or reject) a family of reference (or disturbance) signals produced by some external generator. It is shown that a semi-global framework for this problem is a natural one. Within this framework, a set of solvability conditions are given and feedback laws which solve the problem are constructed. The theory developed in this paper incorporates earlier results established for linear systems without input saturation. IThis work is performed when the first author visited Eindhoven University of Technology supported by the Dutch Network on Systems and Control. 2The research of dr. A.A. Stoorvogel has been made possible by a fellowship of the Royal Netherlands Academy of Sciences and Arts.