Abstract
We present a novel, fast saturating nonlinear feedback law for single input systems with linear dynamics and input saturation. It is fast in the sense that it yields a better performance than a saturating linear control law. The control law is based on implicit soft variable-structure control. A convex optimization procedure for the controller synthesis based on linear matrix inequalities (LMIs) is derived at the price of some conservatism. As an example, we consider the control of a submarine.
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