Global stabilisation of multiple integrators via saturated controls

The global stabilisation problem for an nth-order integrator system with saturated input is considered. A new class of nested-type nonlinear feedback law with new and useful characteristics is proposed. First, this approach allows the designer to pick some parameters that facilitate the placement of the closed-loop pole set consisting of pairs of conjugate complex numbers having negative real parts when none of the saturation elements in the control laws is saturated. Only real numbers are allowed in the other existing results. Second, there are more free parameters in this class of nonlinear feedback laws that can be used to improve the performance further. Simulations confirm the convergence of the closed-loop system with other existing techniques.