5. Conclusion
Actuator saturation (in position and especially in speed), inevitable under certain operating conditions, can lead to a considerable deterioration in control system performance: de-damping, limit cycles, instability. It is essential for engineers to anticipate and remedy such deterioration, even if it means revising the clauses initially imposed. This article provides the simple, effective tools needed to tackle these problems.
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Conclusion
Appendix: expressions for the coefficients of the first harmonic
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