The problem of output regulation for a class of linear systems subject to saturating actuators

We present two different design methodologies to solve the problem of output regulation for linear systems subject to input saturation. We deal with stabilizable systems whose dynamic matrix has all its eigenvalues with non-positive real part, namely asymptotic null-controllable systems, and study both the state feedback and the error feedback case. The solutions we present are global with respect to the initial state of the system to be regulated.