Nonidentifier.based adaptive control with saturated control input compensation

Nearly any industrial plant inheres saturated control inputs, this nonlinearity may cause undesired control performance or even destabilization of funnel-control - a recent adaptive (time-varying) control strategy for a wide class of nonlinear systems. This paper introduces an online compensation of the control input saturation. To compensate the negative saturation effects, the Funnel boundary - a predefined limiting function of the control error - is readjusted online to guarantee stable control performance and effective use of the available control input, so that the saturation limit is never exceeded.