摘要：A designing method is presented to find stabilizing saturated linear controllers for linear continuous time and discrete time singular systems with control constraints. The idea is as follows: The system is first stabilized by a low-gain linear state feedback control. A general Lyapunov function is found, on the basis of which another linear state feedback control is computed. The second step is very similar to a relay control design. The two controls are added and saturated.

摘要：This paper presents a new stabilizing control law for a planar vertical take-off and landing *** model is first transformed into an equivalent form,and then a control law consisting of a linear term and a saturated term is given for a related subsystem,with the saturation levels being assigned as large as *** to the existing saturation scheme in which all states are restricted by saturations,the design brings about a relatively fast *** effectiveness and advantage of the design are validated by numerical simulations.