Aa. Rodriguez et Jr. Cloutier, PERFORMANCE ENHANCEMENT FOR A MISSILE IN THE PRESENCE OF SATURATING ACTUATORS, Journal of guidance, control, and dynamics, 19(1), 1996, pp. 38-46
A method is presented for enhancing the performance of a missile, at a
stable operating point, in the presence of multiple saturating actuat
ors, The method involves the design of a saturation detection system,
called an error governor, that maintains, to the extent possible, the
multivariable properties of the original autopilot design. The system
prevents saturation, eliminates windup phenomena, ensures finite gain
L(infinity) closed-loop stability, and maintains, to the extent possib
le, the directionality properties of the original autopilot.