On the stabilization of perturbed multiple integrators using saturation control law

The saturation control problem for a chain of multiple integrators with a class of nonlinear perturbations is discussed. A saturation controller is designed which stabilizes this kind of system by using systempsilas structure and Lyapunov stability theory. The sufficient conditions for the solvability of the saturation control problem for perturbed multiple integrators and the proof of the global asymptotic stability of the closed loop system is presented. As an application, the stabilization of the three-order subsystem of ball-and-beam system is investigated; the design procedure is given step by step. Finally the simulation result shows that the saturation control law designed is an effective stabilizing controller.