Hey guys,

consider a closed-loop with actuator saturation (see the image). What is the transfer function of this saturation block? And what is the closed-loop transfer function of the system?

I came up with this

Closed-loop transfer function:

H(s)= K(s)SAT(s)G(s) / 1+K(s)SAT(s)G(s)

where

SAT(u)=sign(u).min(|u|, u_lim) (u is bounded from -u_lim to u_lim)

but I don't think it's correct...

Any help would be greatly appreciated. Thanks A LOT

Have a great day

Liptak