Bounded UDE-Based Controller for Input Constrained Systems with Uncertainties and Disturbances

Yeqin Wang, Beibei Ren, Qing Chang Zhong

Research output: Contribution to journalArticlepeer-review

13 Scopus citations


The uncertainty and disturbance estimator (UDE)-based controller has emerged as an effective robust control method to handle systems with uncertainties and disturbances. However, similar to other controllers including an integral action, the UDE-based controller faces the integral windup issue when the system has input constraints. In this article, a bounded UDE-based controller is proposed to deal with systems subject to uncertainties, disturbances, and input constraint. An additional time-varying variable is introduced into the design of the error dynamics to naturally avoid integral windup. The boundedness design guarantees that both the final controller output and the additional time-varying variable dynamically move on an ellipse so that the controller output always satisfies the input constraint. The proposed bounded UDE-based controller inherits the robustness of the conventional UDE-based control method, and has a clear structure, with guidelines provided for parameter selections. Both theoretical analysis and experimental results are provided to validate the proposed design.

Original languageEnglish
Article number8974620
Pages (from-to)1560-1570
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Issue number2
StatePublished - Feb 2021


  • Boundedness design
  • input constraint
  • integral windup
  • uncertainty and disturbance estimator (UDE)


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