Robust Global Stabilization of Saturated LTI Systems: A Heterogeneous Actuator Saturation Perspective

This paper addresses the global stability problem of linear time-invariant systems subject to additive input disturbances and heterogeneous actuator saturation. To tackle this challenge, we propose an innovative control algorithm that integrates a dynamic saturation function and a high-gain technique, where the dynamic saturation function is designed to compensate the heterogeneous saturation, while the high-gain technique is used to actively suppress the effects of additive input disturbances. It is shown that global stability can be ultimately achieved by properly choosing the constant saturation parameters in the dynamic saturation function. Finally, the effectiveness of the proposed method is rigorously validated through numerical simulations.