A switching controller aimed at dealing with a class of uncertain systems subject to input saturation is presented. The switching strategy is such that a pre-specified level of over-saturation is allowed, forcing the input deliberately into saturation. The goal of this method is to use the full authority of the available control. The proposed scheme allows for, up to, 100% over-saturation. Under these conditions, robust stability of the hybrid scheme is established.
Systems & Control Letters Vol. 38, Issue 3, p. 179-185