Abstract
Controlling continuous-time input-delayed nonminimum-phase linear systems is addressed in the presence of actuator saturation and output-disturbances. Focusing on output-reference tracking, the control design is dealt with in the pseudo-polynomials ring. A quite appealing L2 -tracking performance is shown to be achievable in the presence of arbitrary inputs i.e. the output reference and the output disturbance. The performance is formulated in terms of a well defined output-reference mismatch error (ORME), depending on the inputs’ rate and their compatibility with the actuator saturation constraint.
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