Asymptotic stabilization of linear plants in presence of input and output saturations (Q1592890)

Consider the discrete-time system \[ x_k= (1- A(q^{-1})) y_k+ B(q^{-1}) u_k, \] \[ y= \text{sat}(y_M,x)= \min\{y_M, |x|\}\text{sgn}(x), \] where \(A(\lambda)\) and \(B(\lambda)\) are coprime. This system is coupled with the linear saturated controller \[ v_k= (1- R(q^{-1}))u_k- S(q^{-1}) y_k,\quad u= \text{sat}(u_M,v), \] where \(R(\lambda)\) and \(S(\lambda)\) are the unique solution of a Bézout equation issued from the pole placement problem \[ A(\lambda) R(\lambda)+ B(\lambda) S(\lambda)= C(\lambda), \] \(C(\lambda^{-1})\) being a Schur polynomial. Stability of the closed loop nonlinear system is considered.