Data driven control for a class of nonlinear systems with output saturation

This paper considers the problem of data driven control (DDC) for a class of non-affine nonlinear systems with output saturation. A time varying linear data model for such nonlinear system is first established by using the dynamic linearization technique, then a DDC algorithm is constructed only depending on the control input data and the saturated output data. The convergence of the proposed algorithm is strictly proved and the effect of output saturation on system performance is also analyzed. It is shown that output saturation does not change the convergence property of DDC systems, thus it causes the convergence rate to slow down. Meanwhile, the ultimate tracking error is determined by the change of desired trajectory. If the desired trajectory is a constant, then the tracking error converges to zero. Two examples are exploited to verify the theoretical results.