The article studies control algorithms of multiply connected system for dynamic plants with control saturation and nonlinear cross-connections. The authors of the article offer a decentralized control law based on the hyperstability criterion. They also use this law to constuct the MIMO servo system with input saturation. To illustrate the capability of the proposed decentralized robust control system the authors use an inverted pendulums connected by a spring.
Nonlinear robust control of large-scale system with input saturation
