Control of saturated systems with sliding mode

This paper present a design methodology of sliding mode control of a class of linear saturated systems. The constraint of saturation is reported on the control vector. Firstly, we present the structure of saturation and the new formulation of the saturated state system. Secondly, the synthesis of the sliding surface is formulate as a problem of root clustering, which leads to the development of a continuous and non-linear control law that ensures the reaching condition of the sliding mode. Finally we present a numerical application to validate the theoretical concepts.