In this letter, a nonlinear control design is presented for systems whose input and output vectors are saturated. The proposed synthesis includes an optimal tracker as the seed controller and explicitly imposes all the relevant constraints on system input, on the rate of change in the input, and on system output by using the tools of barrier functions, input-output feedback linearization, comparison argument, Lyapunov argument, and a real-Time constrained optimization. The proposed design is applied to microgrid operation with high penetration of renewable generation, where net load and variable generation must be balanced and the microgrid should be operated at an optimal or near-optimal performance level. Since traditional generation has a limited ramping rate, battery storage devices, and demand responses become necessary to effectively deal with variability of renewable generation and to maintain frequency stability, but their capacities are also limited. It is shown that the proposed design is effective for coordinated control of traditional generation, storage and demand response so that the power system frequency is guaranteed to be within the required operational limits and that renewable curtailment is eliminated or minimized.
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