Patent ID: 7945353

Claim:
A system, comprising: actuators for controlling control surfaces, the actuators being responsive to an input command u, the actuators being constrained by an actuatable limit u max of the control surfaces such that if u exceeds u max or is less than −u max , input saturation occurs; an adaptive control loop responsive to a state x of the system and a reference input r to provide an input command u lin , wherein the system is configured to modify u lin to provide a modified input command u c ′ to the actuators, the modification including the acts of: defining a positive input command limit u max δ equaling (u max −δ), where 0<δ<u max ; defining a negative input command limit equaling −u max δ ; if the absolute value of u lin is less than or equal to u max δ , commanding the actuators with u lin ; if u lin exceeds u max δ , commanding the actuators with a first command input that is a function of the sum of u lin and a scaled version of u max δ ; and if u lin is less than −u max δ ; commanding the actuators with a second command input that is a function of the difference of u lin and a scaled version of u max δ .