1. Analysis and tools

1.1 Speed saturation: a dynamic non-linearity

The effect of position saturation is simple. It simply consists in clipping a signal when its amplitude exceeds a level ± M. It is therefore a static non-linearity, i.e. the saturated signal depends only on the amplitude of the incident signal, independently of its rate of evolution; moreover, the saturated signal and the incident signal are in phase.

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(1) - BERNSTEIN (D.S.), MICHEL (A.N.) - A chronological bibliography on saturating actuators. - International Journal of Robust and Non linear Control. Vol. 5, n° 5, p. 375 à 380 (août 1995).
(2) - FOSSARD (A.J.) - Méthode du premier harmonique. - Polycopié...

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