Sigmoid function array based ZG control for bounded input, energy saving and output tracking of time-invariant linear system

The Zhang-gradient (ZG) method has been proved to be powerful for control problems solving. In view of the boundedness and safety of practical actuators through limiting the input, the sigmoid function array (SFA) based ZG (SFABZG) controller, designed by the combination of the SFA and the ZG method, is proposed and investigated for output tracking of the time-invariant linear (TIL) system in this paper. Simulation results substantiate the efficacy and superiority of the proposed novel controller for output tracking of the TIL system with the input bounded and energy saved.