Controller design for a class of nonlinear systems with state and input bounds

In this paper, we propose a bounded controller for nonlinear systems in strict feedback form that are constrained with state and input bounds. We apply the backstepping technique with barrier Lyapunov function to develop an appropriate bounded controller. Then we propose the sufficient conditions for the above nonlinear systems to satisfy the state and input bound constraints and to make the control parameters region larger. The computer simulation establishs the validity of the proposed method.