Smart material-based actuators and sensors have been widely used in practice owing to their various advantages. However, in the working process of these actuators and sensors, their output responses always deduce non-smooth nonlinear constraints. The constraint resulting from the actuator is called the input constraint and the constraint caused by the sensor is called the output constraint. These input and output constraints may induce inaccuracies and oscillations, severely degrading system performance. Therefore, the input and output constraints brought about by actuators and sensors should be considered in control system design. In this paper, system analysis for a nonlinear system with input and output constraints will be considered. The effect from the input constraint to the internal signal in the control system will be discussed. Moreover, the influence of the output constraint on the whole system will be studied. Further, the sufficient conditions for maintaining the stability of the system are obtained. Then, by using the robust right coprime factorization approach, an operator-based internal model like control structure is proposed for mitigating the input and output constraints. Finally, the effectiveness of the proposed design scheme will be confirmed through numerical simulation.

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