Multivariable saturation compensator designs through singular value decompositions

Using a general saturation compensation framework for multi-input multi-output control systems subject to actuator constraints, a simple expression relating the singular values of the uncompensated system, the compensator and the compensated system is established. This singular value decomposition offers numerous possibilities in shaping the desired responses for the saturation compensated system. Two specific practical designs are proposed from the SVD analysis. Another two possibilities are exposed for further theoretical development. A simulated example demonstrates the feasibility and practicality of the proposed designs