Output Feedback Control of a Class of Integrator Nonlinear Systems in Presence of Actuator Saturation

A new control strategy is presented to deal with the problem of controlling a class of integrator second-order nonlinear systems in presence of input saturation constraint. A saturated controller is designed using the backstepping technique and the closed-loop control system is analyzed using Lyapunov and input-output stability tools. It is formally shown that the controllers meet all its control objectives. Accordingly, the closed-loop system global stability is actually ensured and output-reference tracking is perfectly achieved in presence of slowly varying reference signals.