“…As a special class of nonlinear systems [21][22][23]26,43,49], actuator saturation research has attracted considerable attention, because of its importance from both theoretical and practical viewpoints. Researchers have considered a balancing pointer [20,42], a cart-spring-pendulum system [17,42], a F-8 aircraft system [42,44], a RLC series circuit [48], and control theory [6,29]. In general, there are two methods to deal with saturation.…”