Unstable uncertain plants with rate and amplitude saturations

A previous paper presented a synthesis technique for highly uncertain unstable plants subject to a single saturating element. The design philosophy was to use an inserted element N with adjustable saturating value m to control the plant input so as to prevent plant saturations. This paper extends the design technique to plants with both rate and amplitude saturations. The design philosophy is the same, but design of the m control is more subtle. The design also guarantees that the linear response satisfies specified tolerances over the range of plant uncertainty. The design theory is based upon previously developed quantitative synthesis techniques for unstable and for non-minimum-phase plants.