The composite design theory of controller for linear systems with actuator saturation and its application

The problem of actuator saturation appears in many practical control systems.If the controller designed only in conventional linearly techniques,the presence of saturation can debase the performance even lead the closed-loop system to an unstable behavior.In this paper,a compositive controller is composed of PID controller and nonlinear controller.Linear part of nonlinear controller is designed to make the closed-loop system with a small damping for quick response;nonlinear part of nonlinear controller is designed to increase the damping of the closed-loop system and reduce the overshoot.The composite controller designed with this method can be applied to an actual service system.Experiment results prove the effectiveness of this method.