Nested Saturation with Guaranteed Real Poles

Eric Johnson, Suresh K. Kannan

Research output: Contribution to journalArticle

41 Scopus citations

Abstract

The global stabilization of asymptotically null-controllable linear systems with bounded controls has been studied extensively. An early contribution was by Teel [6] who proposed a set of nested saturators to globally asymptotically stabilize the special case of n-integrators with one input. Using this law however, the closed loop system pole locations depend on the choice of coordinate transformation used to arrive at the control law. In this paper we suggest an approach that allows the designer to pick transformations that facilitate the placement of the closed loop poles on the negative real axis.

Original languageEnglish (US)
Pages (from-to)497-502
Number of pages6
JournalProceedings of the American Control Conference
Volume1
StatePublished - Nov 6 2003

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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