Performance enhancement for a missile in the presence of saturating actuators

A method is presented for enhancing the performance of a missile, at a stable operating point, in the presence of multiple saturating actuators. The method involves the design of a saturation detection system, called an error governor, that maintains, to the extent possible, the multivariable properties of the original autopilot design. The system prevents saturation, eliminates windup phenomena, ensures finite gain script L sign^∞ closed-loop stability, and maintains, to the extent possible, the directionality properties of the original autopilot.