摘要: Two kinds of saturated controllers are designed for a class of feedforward systems and the closed-loop resulted is locally input-to-state stable and input-to-state stable, respectively. By the word "locally", it is meant that there are restrictions on the amplitude of inputs. At first, under the guidance of suitable energy functions, two kinds of saturated controllers are designed as locally input-to-state stabilizers for a class of perturbed linear systems, from which explicit gain estimations can be obtained for the subsequent design. Then under the conditions that two subsystems of the feedforward system are respectively of locally input-to-state stability and input-to-state stability, the small gain theory is used to determine saturated degrees for corresponding robust stabilizers. The stability proofs are given by using a new characterization of input-to-state stability that is based on the concept of ultimate boundedness. As an application, saturated controllers are designed for the partial dynamics of a certain inverted pendulum.