@ARTICLE{LeJBN2022,  
author={Chang, Le and Fu, Cheng},  
journal={International Journal of Robust and Nonlinear Control},   
title={Designing a stabilizing controller for discrete‐time nonlinear feedforward systems with unknown input saturation},   
year={2022},  
pages={1-12},  
doi={10.1002/rnc.6502}
}