Tracking domains for unstable plants with saturating-like actuators

In some practical control systems, the various constraints which come from an actuator have to be encountered. One such constraint is actuator saturation. Also in many mechanical systems, the tracking control is one of the most important problems. Therefore in the unstable system in which the actuator saturation exists, the domain of the initial states corresponding to an arbitrary reference signal, in which the tracking condition is achieved, should be considered. Such a tracking domain is generally complicated. In the paper, the approximate tracking domain is derived analytically with a simple numerical example