STABILIZATION OF SYSTEMS WITH INPUT CONSTRAINTS

This article deals with the stabilization of constrained linear system s and state-space linearizable nonlinear systems and the estimation of regions of closed-loop stability. To this end, linear and linearizing static state feedback control laws are considered and a methodology t o design their gains is presented. The resulting closed-loop system is such that it can be transformed, via a change of variables, into a fo rm that facilitates the estimation of regions of stability without hav ing to resort to a Lyapunov stability analysis. The desirable features of this approach are its ease of implementation and its relative non- conservativeness over a Lyapunov-based approach; these are illustrated by applying the theory to various examples.