Output Regulation in the Presence of Actuator Constraints: A Gain-Scheduled Control Approach

In this paper, we show a design method of a feedback control law that achieves output regulation in the presence of actuator saturation. The problem dealt with in output regulation is to design a feedback controller that internally stabilizes a given plant and the output of the resulting closed-loop system converges to a certain reference signal. It is shown that, by introducing the gain-scheduling algorithm, both a large regulatable region and fast convergence of tracking error can be achieved. The effectiveness of the proposed method is shown through two numerical examples and an experimental result.