A general actuator saturation compensator in the continuous-time domain

A general compensator for actuator saturation that includes existing ones as special cases is presented. The conditions that must be satisfied for the implementation of the compensator are given. It is shown that for a given system there exists an arbitrarily large number of compensators such that the compensated system is absolute stable. The result suggests that a compensator can be derived from systems that is known to be absolute stable. If the system is unknown, then the compensator may have to be designed iteratively until the effective set-point is acceptable