  This paper addresses the balanced control between performance and saturation
for a class of constrained nonlinear systems, including the branches: balanced
command filtered backstepping (BCFB) and balanced performance control (BPC). To
balance the interconnection and conflict between performance and saturation
constraints, define a performance safety evaluation (PSE) function, which
evaluates the system safety under the destabilizing effect variables (DEVs)
like saturation quantity and filter errors, then the cumulative effects of DEVs
are fully utilized and compensated for the performance recovery. Specifically,
there exists some degree of tolerance for the DEVs in the safety region, and
the compensation operation works when the evaluation of the system goes
dangerous. The advantages of the proposed methodology are illustrated in the
numerical simulation.
