TRACKING PERFORMANCE ACHIEVEMENT FOR CONTINUOUS-TIME DELAYED LINEAR SYSTEMS SUBJECT TO ACTUATOR SATURATION AND OUTPUT DISTURBANCES

International audienceControlling continuous-time input-delayed nonminimum-phase linear systems is addressed in the presence of actuator saturationand output-disturbances. Focusing on output-reference tracking, the control design is dealt with in the pseudo-polynomials ring. Aquite appealing L2 -tracking performance is shown to be achievable in the presence of arbitrary inputs i.e. the output referenceand the output disturbance. The performance is formulated in terms of a well defined output-reference mismatch error (ORME),depending on the inputs’ rate and their compatibility with the actuator saturation constraint