Saturated delayed stabilization design: assigning the controllers that include multiplicative coefficients

This paper presents saturated stabilization design for the chain of integrators that is subject to input delay. The controller includes multiplicative coefficients that appear before saturation functions. In the stage of saturation reduction analysis, the coordinate change is not needed, and the parameter condition for guaranteeing the reduction of saturated terms is not correlated to delay. In the stage of asymptotic stability analysis of the reduced system, we make the suitable coordinate change and use the M-matrix based comparison principle. As a result, we can easily obtain a concise parameter condition in which the allowed delay value is expressed by multiplicative coefficients.