Dynamic output-feedback control of a chain of discrete-time integrators with arbitrary zeros and asymmetric input saturation

Abstract

For a chain of discrete-time integrators with arbitrary zeros and asymmetric input saturation, this paper develops globally asymptotically stabilizing full-state-feedback and dynamic-output-feedback controllers. These controllers extend prior results on nested-saturation controllers for discrete-time chains of integrators, and they are applied to setpoint command following and rejection of constant disturbances.