Control of Discrete‐Time Systems Composed of Linear Blocks in Series with Saturation Components

We consider the problem of controlling cascade systems consisting of two linear dynamic blocks and two saturation elements arranged according to the N‐L‐N‐L series configuration. A cascade controller is considered and its performances are formally analyzed using input–output stability tools. In addition to global boundedness of all signals of the closed‐loop system, the controller is formally shown to enjoy a l₂ ‐tracking performance in presence of arbitrary‐shape inputs (i.e. reference signal, disturbance).