# Servo-Controllers with Operational Constraints

arXiv: https://arxiv.org/abs/2504.12208 · HTML: https://mlsanity.com/paper/2504.12208/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Apr 2025.

## Built on by (most cited first, 1 of 1)

- [ResSafe: Learning Safety Filtering with Residual Reinforcement Learning for Humanoids](https://mlsanity.com/paper/2609.15988/) (2026)

## Abstract (arXiv)

In this paper, a proportional-integral servo-control design method is developed for multi-input-multioutput linear time invariant systems with operational constraints imposed on the system control input and on an output of the same dimension as the control input. The design is based on min-norm controllers and Control Barrier Functions. It allows to enforce min/max box constraints by analytically solving Quadratic Programs for min-norm augmentation controllers. The method provides an anti-windup protection for the controller integrator state and enforces the desired operational control and output constraints, component-wise. A simulation example is given to illustrate potential benefits of the proposed design methodology for aerial flight critical systems.