“…. , r, and confine them to this set (Corradini, Cristofaro, & Orlando, 2010;Naderi, Sedigh, & Johansen, 2019;Tarbouriech, Garcia, da Silva Jr, & Queinnec, 2011). However, when an adaptive approach is utilized to solve (i), restricting control signals in an attainable set may not prevent actuator saturation.…”