CONTROL OF LINEAR-SYSTEMS WITH SATURATING ACTUATORS

This paper deals with the design of linear systems with saturating act uators where the actuator limitations have to be incorporated a priori into control design, We take a semiglobal approach to solve some of t he central control problems for such systems, These problems include s tabilization, input-additive disturbance rejection, and robust stabili zation in the presence of matched nonlinear uncertainties, We develop further the semiglobal design technology which was initiated in our ea rlier work [7] and utilize it to deal with these control problems.