Abstract
This paper addresses the problem of stabilization and trajectory tracking of nonlinear systems in the presence of input saturation. The main idea consists on avoiding the input saturations by means of a time scale reparameterization of the desired trajectories. The control scheme is based on a well-known nonlinear output regulation theory, where the modification is directly performed on the evolution of the exosystem state trajectories. Finally, some illustrative examples are given.
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