Saturation Control for a Nonlinear Second-Order System with Parameter Uncertainties and Disturbances

Input saturation is always existence in the real systems. This paper studies a saturation controller for a nonlinear second-order system based on the fast terminal sliding mode control. The higher sliding mode precision and faster convergence are achieved without the prior knowledge of uncertainties and disturbances. Theoretical analysis demonstrates the states converges to zero within finite time. Higher precision tracking performance and faster convergence are verified by the simulation results.