This paper presents how the nested saturation control introduced in Teel (1992) can be modified to stabilise the model of the Planar Vertical Take-Off and Landing (PVTOL) system. A particular choice of the amplitudes of the nested saturations controller is given such that global stability of the closed loop system is obtained. The proof is given in detail. Numerical simulations illustrate the performance of the proposed control algorithm.

中文翻译：

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使用嵌套饱和控制的 PVTOL 全局稳定

本文介绍了如何修改 Teel (1992) 中引入的嵌套饱和控制以稳定平面垂直起降 (PVTOL) 系统的模型。给出了嵌套饱和度控制器幅度的特定选择，以便获得闭环系统的全局稳定性。给出了详细的证明。数值模拟说明了所提出的控制算法的性能。