Observer-based singularity free nonlinear controller for uncertain systems subject to input saturation

In this work, design of an observer-based nonlinear controller for a class of single input-single output (SISO) systems in the general strict feedback form subject to input saturation based on the back-stepping technique has been addressed. A full order adaptive observer is constructed to estimate the unknown states and system parameters simultaneously. The proposed control scheme is singularity free and can handle the input nonlinearity. Asymptotical stability of the closed-loop system in the presence of observer dynamics and input saturation has been established by the Lyapunov stability theorem. The effectiveness of the proposed controller is illustrated by applying the proposed scheme to a bioreactor and a mechanical system via simulation study.