PI-type Control for Global Stabilization of First- and Second-order Systems Driven by Saturated Dynamic Actuators Under Constant Disturbances

Abstract

We study the global stabilization problem for first- and second-order plants driven by saturated dynamic actuators under constant disturbances. We consider the dynamic actuator modeled by first-order dynamics with two types of saturations: input saturation and output saturation. Then, to compensate the constant disturbances, we construct proportional-integral (PI) controllers and show that the global stabilization of the overall system is achieved. Applying the Lasalle’s invariance principle, sufficient conditions are investigated for the global asymptotic stability of the plants. Finally, numerical examples are presented to demonstrate the theoretical results.