Funnel control with saturation: Nonlinear SISO systems

Norman Hopfe, Achim Ilchmann, Eugene P Ryan

Research output: Contribution to journalArticlepeer-review

74 Citations (SciVal)


Tracking-by the system output-of a reference signal (assumed bounded with essentially bounded derivative) is considered in the context of a class of nonlinear, single-input, single-output systems modelled by functional differential equations and subject to input saturation. Prespecified is a parameterized performance funnel within which the tracking error is required to evolve; transient and asymptotic behaviour of the tracking error is influenced through choice of parameter values which define the funnel. The control structure is a saturating error feedback with time-varying nonmonotone gain designed to evolve in such a way as to preclude contact with the funnel boundary. A feasibility condition-for mulated in bounds of the plant data, the saturation bound, the funnel data, the reference signal, and the initial data-is presented under which the tracking objective is achieved, whilst maintaining boundedness of the state and gain function.
Original languageEnglish
Pages (from-to)2177-2182
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number9
Publication statusPublished - Jun 2010


Dive into the research topics of 'Funnel control with saturation: Nonlinear SISO systems'. Together they form a unique fingerprint.

Cite this