ABSTRACT
Within this scenario, this paper shows that (2.2) is satisfied if the level of actuator saturation is selected according to
a >/3(e,rK, (2.3) where au is the SD of the signal at the output of the controller in the linear design (which can be calculated using a standard Lyapunov equation), r is a positive real number (which depends on the linear part of the system and can be evaluated using its Nyquist plot), and (3 is a function given by
range of r's, 0(0.1, r )« 2. (2.5)
Thus, the following rule-of-thumb can be formulated: // a > 2<ju, the performance degradation of the linear design due to actuator saturation will be less then 10%.
