Comments on the examples in 'Dynamic output feedback compensation for linear systems with independent amplitude and rate saturations'

In Tyan and Bernstein on saturation systems, both examples were faulted and could not appropriately demonstrate success of the propositions developed in their text. The apparent steady state offset was not due to the interchange of integrator and saturation non-linearity, as suggested by the authors. It is due to the inability of the actuator to meet the steady state control demands. This undercapacity also leads to the existence of steady state offsets in all the system outputs, which were not previously reported.