2. Saturated systems

2.1 Systems considered

The interconnection of a process with a control system involves sensors, to transmit information from the process to the controller, and actuators, to transmit control to the process. In this article, the problem of sensors is not explicitly addressed, but the results presented can generally be extended fairly directly to the presence of non-linearities in them. In general, actuators are dynamic systems with constraints, in the form of saturations, both on position and on higher-order dynamics. Thus, in this article, we consider that the actuator delivers a signal u taking its values in a...