物理系统中驱动饱和的存在对闭环系统的稳定性和性能具有较大的影响 ,因此在设计控制器时必须考虑到这一点。在系统的量测噪声和外部扰动已经通过其它办法消除的条件下 ,设计了一种抗漂移的状态反馈控制器 ,并将参考轨迹也加入到控制器设计中。这样极大地简化了控制器的参数设计并扩大了输入信号的范围。仿真结果表明 ,无论饱和发生与否 ,该控制器对于参考轨迹都具有较好的渐近跟踪性能 The presence of drive saturation in a physical system has a large influence on the stability and performance of the closed-loop system, so this must be taken into account when designing the controller. Under the condition that the measured noise and external disturbances of the system have been eliminated by other means, an anti-drift state feedback controller is designed and the reference trajectory is also added to the controller design. This greatly simplifies the controller’s parameter design and expands the input signal range. Simulation results show that the controller has good asymptotic tracking performance for reference trajectories, regardless of whether saturation occurs or not