Control of a chain of integrators subject to input saturation and disturbances

In this paper, we study control of a chain of integrators under actuator saturation and non-additive dis- turbances. We shall show that boundedness of the states can be ensured if the disturbances are matched and integral-bounded, misaligned and magnitude-bounded, or a combination of the two, using either a static or a dynamic low-gain state feedback. This result is an extension of our earlier work on double integrator