Output Reference Tracking of Input-Delayed Systems in Presence of Actuator Saturation

The problem of output-reference tracking is addressed for input-delayed linear systems, in presence of actuator saturation. It is dealt with using a saturated pole-placement regulator designed within the pseudo-polynomials ring. Using input-output stability tools, a neighborhood of the system poles is defined in which all closed-loop poles must be assigned. Then, if the reference signal is compatible with the input constraint, the output-reference tracking quality depends on the reference quadratic mean rate (RQMR). The smaller the RQMR is, the better the average tracking quality.