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An Internal Model Control structure for nonlinear, stable single-input single-output systems with actuator saturation is proposed. The main topic is the analysis of the stability and the steady-state input-output behaviour of the IMC filter which is an integral part of the IMC structure. Despite of the actuator magnitude limitation and the plant nonlinearities, the closed IMC loop is shown to be internally stable and to possess the set-point tracking property. The performance of the approach is demonstrated by its application to the intake manifold pressure control of a combustion engine.

Internal Model Control of Nonlinear Systems with Input Saturation