This article presents a novel framework for the output regulation of rational nonlinear systems subject to input saturation, where the controller structure is composed by an internal model generator in series with an output feedback stabilizing stage. In order to address the effects of control saturation, we propose the use of an anti‐windup compensation loop into both internal model and stabilizing control stages. Given prior knowledge of the system zero‐error steady‐state condition and a proper internal model, we cast the regulation error dynamics in a differential‐algebraic form, which leads to matrix inequalities conditions that ensure closed‐loop stability and exponential transient performance. Optimization problems are then proposed to simultaneously compute the stabilizing controller and the anti‐windup gains such that a domain of attraction estimate is maximized.

中文翻译：

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控制器和反饱和联合设计，用于受控制饱和的有理系统的输出调节

本文为有输入饱和的有理非线性系统的输出调节提供了一个新颖的框架，其中控制器结构由内部模型生成器与输出反馈稳定级串联组成。为了解决控制饱和的影响，我们建议在内部模型和稳定控制阶段都使用防饱和补偿环路。有了系统零误差稳态条件和适当内部模型的先验知识，我们就将调节误差动力学转换为微分代数形式，从而导致矩阵不等式条件，从而确保闭环稳定性和指数瞬态性能。