Nonlinear slate feedback controllers are exhibited for locally stabilising
linear discrete-time systems with both saturating actuators and additive di
sturbances when the output must track a certain time-varying reference leve
l. The objective is to bring the steady-state error due to disturbances to
zero, by using a saturated controller and a dead-zone function. The objecti
ve is two-fold: to determine both a stabilising controller and a region of
the state space over which the stability of the resulting closed-loop syste
m is ensured, when the controls are allowed to saturate.