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中文摘要：
执行器饱和问题在控制工程中广泛存在．针对该问题，改进了有界反馈后推法，使其可应用于一类较广泛的非线性系统镇定问题．相对其他有界反馈后推法，该方法设计的反馈界更小并在一定范围内可调节，且反馈控制律可以是光滑函数．
英文摘要：
Actuator saturation is commonly encountered in control engineering. Towards this problem, the technique of bounded feedback backstepping is improved in this note such that bounded feedback backstepping can be used to stabilize a more general class of nonlinear systems. The bounds of the new feedback controllers are less than those of the controllers designed by other methods, and these bounds can be adjusted in some range. Additionally, we can design feedback controllers as smooth functions.
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