Abstract
In this paper, we consider tracking control problems in the presence of actuator saturation. We first show a control law that internally stabilizes the closed-loop system and the tracking error converges to zero in the case where a reference signal is generated by a certain dynamics. The control law is based on the recently developed state dependent gain-scheduling algorithm and makes it possible to achieve large region of attraction and fast convergence of tracking error. Then we extend this result to the cases where the reference signal is an arbitrary time-varying signal.
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