Design of a control algorithm for objects with parametric uncertainty, disturbances, and input signal saturation

We design a control algorithm for objects under parametric uncertainty, external bounded disturbances, and saturation of the controlled signal. We assume that the object model is described by a linear dynamical system with arbitrary relative degree and several inputs and outputs. The developed algorithm provides approximate tracking of the output of the control object for a reference signal. We obtain sufficient stability conditions for the closed system that depend on object parameters, reference model, and the controller. We show modeling results that illustrate the operation of the developed scheme.