Composite nonlinear feedback (CNF) control technique for tracking control problems is extended to the output regulation problem of singular linear systems with input saturation. A state feedback CNF control law and an output feedback CNF control law are constructed respectively for the output regulation problem of singular linear systems with input saturation. It is shown that the output regulation problem by CNF control is solvable under the same solvability conditions of the output regulation

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... problem by linear control. However, with the virtue of the CNF control, the transient performance of the closed-loop system can be improved by carefully designing the linear part and the nonlinear part of the CNF control law. The design procedure and the improvement of the transient performance of the closed-loop system are illustrated with a numerical simulation.