Second order saturated servomechanisms

A PRIMARY REQUIREMENT in many positioning systems is that errors resulting from large input disturbances be reduced to tolerable values as quickly as possible. For a linear system, this requirement could be satisfied by making the ratio of torque to inertia sufficiently large. However, even with the best servomotor design, this ratio is limited; therefore, to reduce the response time sufficiently, the designer frequently must contend with saturation in the system components and resulting saturated values of available torque.