Adaptive controller for a class of systems with saturation nonlinearity

This paper presents a design of a new nonlinear real-time adaptive control algorithm suitable for systems having saturation nonlinearity at the input. The linear part of the system can be of non-minimum phase and/or be unstable. The control algorithm is of self-tuning type. The algorithm utilizes an auxiliary control parameter to ensure that the controller output is in the linear zone of the saturation nonlinearity. The results are applicable to the class of dynamic systems that allow system output to be amplified (attenuated) in real-time. A simulation experiment is performed to demonstrate effectiveness of the algorithm.