This paper proposes an alternative to the saturated nonlinear PID controller previously presented by Santibaez et al. (2010) which, also, results from the practical implementation of the classical PID controller, by considering the natural saturations of the electronics in the control computer, servo drivers, and actuators. The stability analysis of the closed loop system is carried out by using the singular perturbation theory. Based on auxiliary Lyapunov functions, we prove local exponential...
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