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This paper focuses on the stabilization problem of linear systems subject to control amplitude and rate saturation.The considered saturating actuator is a first order system subject to input saturation and speed saturation. Some conditions for the stability of the closed-loop system despite the occurrence of saturations are formulated in terms of mahixinequalities. The closed-loopperformances are alsodiscussed. Some numerical examples are provided in order to illustrate the techniques developed.

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