Amplitude Constrained Direct Self-tuning Control

Abstract

This paper considers the problem of direct self-tuning controller design when the plant input is subject to a hard saturation constraint. fie show that for a stable plant or a class of type-1 plants (not necessarily non-minimum phase) the system is BIBO stable and satisfies a control tracking property. The stability result is also shown to hold when the plant is under-modelled and/or when bounded disturbances exist. Simulation results are presented showing system performance