Transient performance improvement for output regulation problem of linear discrete-time systems with input saturation

Transient performance for output regulation problem of linear discrete-time systems subject to input amplitude saturation is addressed in this paper by using composite nonlinear feedback (CNF) control technique. The regulator is designed to be an additive combination of a linear regulator part and a nonlinear feedback part. The linear regulator part itself solves the regulation problem independently which produces a quick output response but large oscillations. The nonlinear feedback part with well-tuned parameters is introduced to improve the transient performance by smoothing the oscillatory convergence. It is shown that the introduction of the nonlinear feedback part does not change the solvability conditions of the linear discrete-time output regulation problem. The effectiveness of transient improvement is illustrated by a numeric example.