Control method for a class of systems with separable static non-linearities
一类具有分离静态非线性系统的控制方法

A class of system with separable static non linearities is studied and a sufficient condition is built up for robust stability in the presence of computing errors of the solution of static nonlinearities. An extra control variable is introduced and in-variant sets are used to guarantee the closed loop stability and feasibility in the presence of input constraints