Efficient design of high performance automatic control systems is extremely important for complex high technology systems and their cost-effective development. To get the best cost-to-performance ratio one would like to be able to design a controller that takes full advantage of actuator capabilities, but this can lead to non-linear behavior due to actuator saturation. The saturation nonlinearities in the system may have severe effects on the system performance due, for example, to integrator-windup.

In this paper we present a new design method, based on Lyapunov stability theory, that incorporates the actuator constraints directly in the design of a state feedback controller with integral action. By incorporating the actuator constraints directly in the design method we can ensure better utilization of the available control effort in achieving the desired system behavior.

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