System types in feedback control with saturating actuators

This paper extends the classical notation of system type to feedback control with saturating actuators. For step, ramp, and parabolic inputs, it defines the so called trackable domains and evaluates steady state errors. It shows that, unlike the linear case, the role of the poles at the origin of the plant and the controller are different and, on this basis, extends the notion of system type. Results obtained are useful for selecting controllers and actuators to ensure desired trackable domains and steady state errors.