Nonlinear Dynamics

, Volume 93, Issue 4, pp 2263–2272 | Cite as

A singular perturbation approach to saturated controller design with application to bounded stabilization of wing rock phenomenon

  • M. M. RayguruEmail author
  • I. N. Kar
Original Paper


This paper proposes a singular perturbation-based approach to design saturated controllers for a class of nonlinear systems and shows its effectiveness in suppressing wing rock phenomenon in aircraft. Approximate dynamic inversion technique is exploited to design a high-gain dynamic controller which enforces time-scale separation in the closed-loop system. The convergence analysis of closed-loop system is done using the framework of contraction theory. Explicit tracking error bounds are derived both in the presence and absence of disturbances in system dynamics. The derived bounds are valid beyond a restrictive range of perturbation parameter, unlike Lyapunov-based approaches.


Singular perturbation Contraction theory Saturated controller Wing rock Approximate dynamic inversion 


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Authors and Affiliations

  1. 1.Department of Electrical EngineeringIndian Institute of Technology DelhiNew DelhiIndia

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