Abstract
In this paper, we present a composite nonlinear feedback (CNF) control technique for linear discrete-time multivariable systems with actuator saturation. The CNF control law serves to improve the transient performance of the closed-loop system by adding an additional nonlinear feedback. The linear feedback can be designed to yield a quick response at the initial stage, then the nonlinear feedback is introduced to smooth out overshoots when the system output approaches the target reference. As such, the resulting closed-loop system typically has very fast transient response and small overshoots. The goal of this work is to complete the theory for general discrete-time systems. The technique is applied to a magnetic-tape-drive servo system design and yields a huge improvement in settling time compared to that of a purely linear controller.
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